4 Suggestions
4.1 Environments
When scanning the surroundings, P1 constructs maps and saves the point cloud data in
real time. Without the need for a GNSS device, P1 can be widely used for indoor, outdoor,
and underground surveying scenarios such as underground parking lots and tunnels. It
has great advantages when working indoors and underground such as in tunnels and
mine laneways, as it neither needs, nor is interfered with by, external light during use.
Do not point P1 toward a large group of moving people or objects, as it requires static
data. During scanning, the operator should work alone. If partners are needed, they must
walk behind the operator to avoid being scanned.
P1 may not perform well in some scenarios. Keep in mind the following points when using
the product.
Scanning will be affected by specular refraction and reflection. Do not use P1 to
scan spaces with a large area of glass.
As P1 relies on real-time matching of 3D environments, its accuracy will be
affected in spaces with similar structures (for example, passages and mazes
showing no geometric difference in walls) and in spaces without clear structures
(such as large and open lawns and squares).
Clear the area around P1 during initialization. It is recommended to perform the
initialization with P1 placed at a certain height instead of on the ground.
Do not use P1 to scan an area with moving people and vehicles, like a crossroad.
4.2 Loop Closure
Plan the path before using P1. Proper path planning ensures the mapping accuracy.
1. Loop closure at start and end positions
Close the loop where possible to minimize the cumulative error. It is to "close the loop" by
re-surveying a known position, and the overlapping path should be at least 5 m. It is
recommended to scan based on the green paths below.
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