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South RobotSLAM Lite User Manual

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RobotSLAM Lite User Manual
SOUTH SURVEYING & MAPPING TECHNOLOGY CO., LTD.
2023.12
1

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  • Page 1 RobotSLAM Lite User Manual SOUTH SURVEYING & MAPPING TECHNOLOGY CO., LTD. 2023.12...

  • Page 2: Table Of Contents

    Contents 1.Getting to know RobotSLAM Lite ....................3 1.1 Unboxing ........................... 3 1.2 Technical specifications ....................4 2.1 Device connection ......................6 2.2 Data capture ........................8 3.Data download ........................... 10 4.Data processing ......................... 14 4.1 Computer configuration ....................14 4.2 RobotSLAM Engine software installation ..............

  • Page 3: Getting To Know Robotslam Lite

    1.Getting to know RobotSLAM Lite 1.1 Unboxing Part Name Quantity Device Handheld Rechargeable battery Base stand Pano Camera Unit Camera Holder Lens Cover Battery Charger Type-C charging cable Ethernet Cable Cleaning cloth Hand-carry case...

  • Page 4: Technical Specifications

    1.2 Technical specifications Specification Parameter Models RobotSLAM Lite System accuracy Laser safety class CLASS 1 0.1 ~40m@10% Measuring range 0.1 ~70m@80% FOV(horizontal) 360° , -7°~52° 0.15° （10 Hz） Angle resolution(H.) Scanning frequency 10 Hz Scan Rate 200,000points/sec Built in storage：512G SSD Storage Camera built in storage：128G TF...
  • Page 5 2. Device details Device interface display Panoramic Camera Power Switch Button Ground control point marking button Start/Stop scanning button Nano SIM card slot Main cable point Power on/off Port Name Functions descriptions Start/Stop the button is to control the device to start scanning or stop scanning;...

  • Page 6: Device Connection

    Item Content Description Connecting cam！ Connecting to camera... Ready to scan！ Device is ready, scanning can commence Initializing collection, lasting 10 seconds Initializing Storing data… Data is being stored, please wait… Device status Recording control point, lasting 5 seconds Marking pt Ending…...
  • Page 7 Press the power switch lightly, the light on the handle battery indicates that it is turned on; press it briefly and then hold it until the light goes out to indicate that it is turned off. The handle battery is a 18650LiPo, with a capacity of 2400mAh and energy of 34.56Wh.

  • Page 8: Data Capture

    device is not loose. (3) When disassembling, rotate the locking handle in the opposite direction to loosen it, and gently pull out the device. 4. Connect the camera and the host. Insert the camera into the socket at the top of the device, press down to align the Type- C interface, and the camera is fixed without shaking.
  • Page 9 3. Go to the start point, put the instrument on the ground(flat ground)； Press the start recording button The camera will start recording simultaneously or after a few seconds 4. After starting the scan, please keep the instrument in one place without moving for 10s, and then start scanning;...

  • Page 10: Data Download

    1. Viewpoint switch: free rotation → third person → first person; Free rotation Third person First person 2. Set control points during collection; 3. Control the device to start/stop collection; 4. Automatically adjust the scale according to the loaded point cloud; 5.
  • Page 11 Ethernet cable Connect RobotSLAM lite with laptop or computer Input \\192.168.0.30 in your computer ⬇...
  • Page 12 ⬇ Copy out the data folder, all the information is in the same folder. 2. Data download via WiFi Connect device Wifi with Laptop， Connect device wifi, password is 12345678, Enter the share folder:...
  • Page 13 And then open internal folder Copy out the project folder:...

  • Page 14: Data Processing

    4.Data processing 4.1 Computer configuration Computer Minimum Recommended Operating Windows10/Windows11 64-bit system Graphics GTX-3060/RX6600M or above（NVIDIA series recommended） card Intel i7-11800H/AMD R7-5800H or Intel i7-12700H/AMD R7-6800H or above above Internal 16GB or above 32GB or above Memory 1TB or above 2T or above 4.2 RobotSLAM Engine software installation Before start processing, there are two software to install,...

  • Page 15: Apply A Software License

    4.3 Apply a software license 1. send the factory your machine code to apply a license file:...

  • Page 16: Data Processing In Robotslam Engine Software

    2.click “BROWSE” to import the license file and click ACTIVATE; 4.4 Data processing in RobotSLAM Engine software , Double click to run RobotSLAM Engine software , Open SLAM Manager, click” CHANGE” to load the project folder;...
  • Page 17 , if the total scanning time is less than 20 minutes, directly click “Run Bag file” (Environment keep the default value” ＜20min”); if the scanning time is more than 20 minutes, Environment set “＞20min”, and then click” Run file”.
  • Page 18 , wait for the processing, when the processing bar reach 100%, and show “Finish refining trajectory”, the processing finish. Export point cloud by clicking the following icon: , and then click “OK” to export point cloud.

  • Page 19: Export Colorized Point Cloud

    4.5 Export colorized point cloud If the data also collect video with the panorama camera, check “Colorize Origin Pointcloud” to export the point cloud, and then click OK. 4.6 Export absolute coordinates 1. If marks GCPs in the scanning process, Marking GCPs on the ground Method to mark ground control point: 1.Put the cross on the base plate to the location of the ground control point;...

  • Page 20: Loop Optimization

    point. If some Ground Control Points are marked and get the coordinates file for the GCPs, please check” Transform Point Cloud” “Use GCP points” to export absolute coordinates; The GCPs coordinate file should be *.txt or *.csv format, in the sequence of Point name, E, N, 4.7 Loop optimization When finish processing, zoom in the left window to the location of start...
  • Page 21 Click one point on the starting line, and one point on the ending line, so that check whether the point cloud is misaligned in the joint area. Under normal status, in the joint area, there is only one layer of ground point cloud from vertical view;...

  • Page 22: Point Cloud Classification(Manually)

    Optimize the point cloud with LOOP DETECTION optimization. 4.8 Point cloud classification(manually) This function is used to classify the point cloud manually, for example class one unclassified point cloud to ground, vegetation, building, noise and so on. Take Low point(noise points) classification as an example: Browser Page Manual classification set Target class...
  • Page 23 select ”Low point(noise)” for example(or other class) click ”Partial Viewer” right click” Set the displayed area for partial viewer” Fixed width value(0.1-0.5)
  • Page 24 make a slice in left window with left mouse button change the classification window to Partial Viewer (it is the right window) Select the “Selection tools” Select tool ”Rectangular” or other tools on the right...

  • Page 25: How To Show The Room Inside When Make A Demo

    class the noise point cloud to Low point class The low point class (in red color in left window) 4.9 How to show the room inside when make a demo , import point cloud...
  • Page 26 , click ”Browse Page, and do the following steps to save the point cloud in slice view:...
  • Page 27 Right click” Point cloud” to import the saved point cloud after remove the roof...

  • Page 28: Ground Extraction (Auto)

    4.10 Ground extraction (Auto) If the user needs to extract the ground point cloud, there is a function called Las Tools. , import the point cloud(right click “Point cloud”,...
  • Page 29 , Point cloud/Las Tools, : select terrain type and fine type, set Save Path, and then run.
  • Page 30 : load the las file saved for the previous step, : check “ALL OFF”, only display Ground to check it as below:...
  • Page 31 , export ground class. Export ground class...

  • Page 32: Format Conversion

    4.11 Format conversion RobotSLAM export standard LAS format point cloud files, sometimes, the users may need other formats, txt, pts, xyz, or others. Here takes pts format conversion as an example:...
  • Page 33 , load the files; , add the method “data filtering”; , change the save path; , add the file suffix; , select the format PTS; , do the format settings, click ok to get the pts format file.

  • Page 36: Import Checkpoint File And Generate The Vertical Accuracy Report

    4.12 Import checkpoint file and generate the vertical accuracy report If the user already has some checkpoints before scanning, and when collect data, the RTK function works, and receive absolute coordinates. Please import the checkpoints coordinate file, and check the accuracy report by clicking “Control report”.

  • Page 37: Merge Slam Project

    4.13 Merge SLAM project In the case of large-area multiple collections, perform multiple stitching according to the overlapping areas. 1. create a new folder, then open the A software. 2. select the new folder here in Merge Project.
  • Page 38 3. select the folder you want to splice here one by one in Add Project and then choose to start. 4. Then click SLAM Manager , open the new folder, click on the point cloud Replay, then find the loop frame match, and click optimize after the match is completed, Finally go to save the track.

  • Page 40: Usage Guidelines

    5.Usage Guidelines This chapter will talk about guidelines for how to use RobotSLAM Lite to receive desirable surveying results. As we know, SLAM can work both indoors and outdoors, and don’t reply on the satellite signals to do the scanning and get 3D point cloud. But it doesn’t mean we can scan randomly to get the results.

  • Page 41: Indoor Scanning

    Outdoor small scene route planning Outdoor large scene route planning 5.4 Indoor scanning 1. For indoor environment scanning, please open all doors in advance; 2. Plan walking route in advance; 3.Avoid walking people as much as possible; Open the door before start scanning...

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