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Summary of Contents for Phomatix Ottugi MappingBot
- Page 1 Phomatix Ottugi MappingBot User Manual Version 1.0 January 2017 5005 W Royal Ln, Suite 183E Irving, TX, 75063 E-Mail: info@phomatix.com Web: www.phomatix.com...
- Page 2 Ottugi Phomatix User Manual This user manual describes how to operate Ottugi the MappingBot as illustrated in Figure 1 Figure 1: Ottugi the MappingBot with a camera. Turn On/Off To start the robot, you need to press On/Off toggle switch at the back of the robot. Operation 1. In order to start the mapping process, a digital camera such as GoPro or a smartphone is needed. 2. The camera setting must be in self-timer mode. The self-timing duration will determine the resolution of the 3D model and the period of image stitching process. The recommended duration is 0.5 second or 2 shots per second. 3. Mount a digital camera or a smartphone with a selfie stick in 90 degree to the robot's proceeding direction. 4. Turn on the power of the robot. Ottugi the MappingBot has two navigation modes: autonomous and manual...
- Page 3 Ottugi Phomatix 1. Autonomous mode The default function of the robot is set for autonomous navigation with potential field path planning. Robot has a tendency of following a wall or objects on the left or right hand sides. The robot automatically avoids collision by front side sonar scanning. In case the robot collides with an obstacle, the robot detects the collision by accelerometer and moves away from the obstacle. Therefore, the human intervention during the mapping process is minimized. In case users do not want to use the automatic scanning and navigation function, manual navigation functions are also available. Autonomous mode also supports patterned motion. There are four supported patterns such as linear, circular, arc, and square motions. Users can specify size of the motion via parameter entry. For autonomous navigation, the gap to the wall is optimized for PID control and path planning. The distance to the wall is preset to be 50cm. Users can change the gap distance for different applications. The robot is able to move around corners and make sharp turns by auto navigation. 2. Manual mode In manual mode, a user can use a cellphone like a remote controller via Bluetooth communication. Supported 4 manual motions include 'move front', "move back', 'turn right', and 'turn left'. Figure 2 displays Ottugi app running in Android mobile phone. This app can be either downloaded from Google Play Store or obtained from Phomatix customer service. (Currently the app works with Android version 5.0 and higher.) Figure 2: Ottugi App’s main screen When the Ottugi app is launched, it connects to robot through Bluetooth automatically. The connection status is indicated in the Bluetooth status (3). If the app does not connect, try “scan” in the sub menu (2) or try reset button of the robot. By selecting the button (6) or (7), robot works in either manual or automatic mode. Followings explain the buttons on the screen.
- Page 4 Ottugi Phomatix 1: Main menu button. This main menu will show more options for app and robot settings. 2: Sub menu button. This sub menu will show more options for Bluetooth connection 3: Bluetooth connection status 4: Shows currently selected button status 5: Button to hide and show other buttons 6: Button for manual mode selection 7: Button for automatic mode selection 8: Button for pattern mode selection (Not supported at this time) 9: Button for turning left 10: Button for turning right 11: Button for moving forward 12: Button for moving backward 13: Button for stop Image Data Transfer Once the robot scans enough data in the given environment, user can transfer the obtained data for 3D image stitching. Image data in SD card needs to be transferred to a computer for image stitching process (no other data is necessary) 3D Modeling User can use 3D stitching software such as Agisoft Photoscan or an open source code such as XuvTools. In case a user is not familiar with the 3D modeling process, Phomatix provides full service of 3D image stitching free of charge for the first month. The service includes wireframe modeling, surface modeling, 3D cloud point, and full color texture modeling. and illustrate examples of 3D building mapping and human modeling. Figure 3 Figure 4...
- Page 5 Ottugi Phomatix Figure 3: 3D building mapping. Figure 4: 3D human modeling.
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