User's Manual

STONEX SLAM XH120 – User Manual
43
Slam Parameters
PARAMETER
FUNCTION
VALUE RANGE
DEFAULT VALUE
Min Range (m)
Minimum ranging to the Lidar’s center
point.
Points less than this distance are
automatically ignored during SLAM
operation.
>=0 m
0.2 m
Timeout For
Quit(sec)
If XH120 cannot get any frames from the
Lidar sensor, it will close the SLAM and
quit the operations.
>=5 s
5 or 10
Frames In
Submap
How many frames are saved in a
GlobalMap file. The bigger value, the
larger the GlobalMap size. 600 frames
correspond to 1 minute scan.
-1 : All data will be saved in one
GlobalMap.pcd file.
After scanning, the number of files is
shown next to the GlobalMap size in
parentheses.
>=50 or -1
-1
Map Filter
This parameter applies only for
remapping, when scanning, the value is
set to 6
By setting it to 1 the remapping will
produce the highest point density, the
higher the value, the sparser the point
cloud obtained after remapping.
(Remapping only)
>=1
4
Max Iteration
Max Iteration times during SLAM
progress. The bigger value, the slower
Remapping speed, and the better the
effect. (Remapping only)
>=3
Trajectory
Interval
Subsampling factor for the trajectory
points.
1: All the trajectory points (one every
1/10
th
sec.) are saved in trajectory.txt;
10: One every 10 trajectory points (one
every sec.) are saved in trajectory.txt;
>=1
Accuracy
Threshold
Threshold for the Remapping algorithm.
The smaller, the more accurate the point
cloud.
>0
0.00001