User's Manual

STONEX SLAM XH120 – User Manual
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7.3 Transition between environments
When transitioning between environments (for example, passing through a doorway or turning around a
sharp bend), extreme care must be taken to avoid introducing errors, because when switching between
different environments, the local view may suddenly change, and adjacent contours change too much,
making it difficult for the SLAM algorithm to place a new environment relative to the previous environment.
This may cause the rooms on both sides of the passage to be slightly misaligned or even fail the alignment.
You should walk through the doorway slowly and ensure that the scanner can view features on both sides
of the doorway (i.e., the two "rooms") for a period. Before starting the scan, try to open all the doors. Avoid
opening the door while scanning the door. If you can only open the door while scanning, please turn your
back to the door, open the door from behind, and then back through the doorway.
Transition slowly around sharp bends and ensure that the scanner can view features on both sides of the
bend for a period.
When transitioning from a closed environment with rich elements to a harsh environment with open
elements. Please be careful. For example, when you walk out of a building, if there are no other features
in the range, you may need to turn and face the exit and the external facade of the building. When crossing
a transitional section, avoid scanning any other moving objects (for example, walking pedestrians or
moving cars).
7.4 Walking speed
It is recommended to capture data at walking speed to ensure good coverage and high-resolution data.
If you move forward too fast, the SLAM algorithm may not have enough repeated scanning features to
process the original laser data into the point cloud.
7.5 Minimum and maximum range
(By default) Data within a smaller range than 0.2 m from the scanner will not be processed to eliminate
data from the scanner operator in the final point cloud. Avoid getting close to walls and ceilings.
The maximum range of the scanner is 120 m. This range can only be reached under optimal conditions
(indoors with good target reflectivity). In most cases, the typical maximum range is 60-80 m. It is
recommended to keep the range within less than 50m to ensure a good point density and assist the SLAM
algorithm.
7.6 Initial position
It is recommended to start the scan initialization positioning the handheld part on a horizontal and stable
position (e.g. on a table or on the suitcase), this will allow the SLAM algorithm to automatically define the
correct directions for the horizontal plane.
7.7 Scan time
For large scanning areas, the project should be broken down into multiple scanning tasks. This is to avoid
excessive file size and reduce possible drift in the data. It is recommended for each scan to be limited to
10 minutes. With a slow walking speed, it can cover a measurement distance of 1000 m.
7.8 Access to restricted or difficult scanning areas
The scanner can remain stationary for a short period of time, while the operator can hold the scanner to