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If you are doing a lot of indoor scanning in extruded tunnels, tight spaces, and small rooms, consider Kaarta Contour. The Velodyne 3D Lidar scanners have a limited vertical field of view which makes these types of areas problematic.
The less occluded the sensor is, the better the results.
For longer scan times when hand held, consider a holster or support to avoid arm fatigue.
Start from a stationary position. Allow five seconds after initiating the scan before moving.
- Plan your scan.
- Scout the area to be scanned beforehand and plan your route.
- For more complex scans, consider taking some preliminary scans to see how they come out before committing to a longer scan.
- Shorter paths that cross are better than a longer single path.
- If you can scan a place that you will return to, it will decrease overall map drift. For example, in the diagram below it is better to start at 1, rather than 2. If you start at 2, then move to 1 and back to 2 before proceeding.
It is better to overlap scanning areas than to go for longer distances and coming back to the beginning – similar to a lawn mowing pattern.
If the area is very large (>150 meters), then make sure there is some 3D structure in the field of view at all times.
Scanning will fail if there is insufficient 3D structure to match between laser scans. It is better to do two independent maps and try to connect two areas through the flatter area. If you typically scan environments with less 3D structure, consider purchasing Stencil with the feature tracker option.
Ground control points can be used to improve map accuracy. Ground control points should be physically visible in the point cloud and not a flat reflectance target on the ground.
Better to scan with fewer people or moving objects around. They add unnecessary points to the registered cloud.