User's Manual

STONEX SLAM XH120 – User Manual
41
enter restricted or difficult areas (such as narrow passages). It is possible to scan objects in hard-to-reach
situations by simply extending/moving the arm holding the handheld part.
7.9 Moving objects in the environment
In most cases, the SLAM algorithm can handle moving objects in the environment. To estimate the
trajectory of the sensor, the algorithm assumes that the static proportion of the environment is large.
However, in some harsh environments lacking 3D structural features, moving objects will have a greater
impact on the solution. Especially in long tunnel environments (such as long corridors), relatively open
spaces and transitions through doorways, avoid moving objects. The best practice is not to let other
people closely accompany the operator during the scan acquisition, because they will be scanned across
the entire map, leaving data streaks that may destroy the algorithm in a harsh environment. If other people
are required to follow the operator, they should ideally keep 20m or more from the operator.
7.10 Control Points Acquisition
During scanning operations, it is possible to locate certain control points by standing in the same position
for a few seconds. The trajectory will then present clusters of points that can be recognized within the
XH120 Manager software, and these can be associated with video or images.
Center of LiDAR sensor – control mark offset is of 232 mm.