SLAM Data Collection
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      3. SLAM Data Collection

      Best Practices for Collecting SLAM Data Under an Underpass or Bridge

      When collecting SLAM data with a ROCK LiDAR unit in challenging locations like underpasses or bridges, it’s essential to follow specific steps for optimal data quality. This guide outlines the recommended approach

      Preparing for SLAM Data Collection

      To collect SLAM data efficiently, ensure the following:

      • Use a compatible device like the R3 Pro V2 LiDAR.
      • Familiarize yourself with the one-button method for easy operation.
      • Have an open sky environment as you start and finish the capture for better GNSS data. 

      Step-by-Step SLAM Data Capture

      Follow these steps to ensure precise data collection:

      1. Position and Activate: Start with a 30-second static capture in an open area before moving towards the underpass. This helps in initializing the GNSS signal for better satellite reception.
      2. Begin Walking: Keep the device steady and positioned to avoid obstructions from the bridge structure. Aim to hold it slightly above head height for an unobstructed scan.
      3. Slow Walk and Tilt Technique:
        • Walk slowly along one side of the underpass.
        • Use a subtle tilt to cover the top of the underpass, capturing as much detail as possible.
        • Repeat this process on the opposite side for comprehensive data coverage.
      4. Ensure Loop Closure: Return to your starting point to enhance data accuracy through loop closure. Check out additional loop closure tips.

      Pro Tip: Small tilts during the capture create a "painting" effect, covering areas that might otherwise be missed. However, avoid excessive tilting to prevent IMU issues.

      Finalizing the Capture

      After collecting data:

      1. Perform a final static capture for another 30 seconds.
      2. Use the one button method to stop data collection.
      3. Turn off the device.

      Related Resources for Further Information

      This approach to SLAM data collection provides structured coverage under difficult conditions, helping you capture complete, accurate data for all underpass or bridge projects.