kaarta STENCIL 2 - Typical Parameters to Set; Structured Outdoor; Large Indoor Environments; Vegetated or Cluttered Environments

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TYPICAL PARAMETERS TO SET
STRUCTURED OUTDOOR / LARGE INDOOR ENVIRONMENTS
In structured outdoor or large indoor environments, use the default values:
voxelSize: 0.2
cornerVoxelSize: 0.2
surfVoxelSize: 0.4
VEGETATED OR CLUTTERED ENVIRONMENTS
In vegetated or cluttered environments, set:
voxelSize: 0.3 or 0.4
cornerVoxelSize: 0.3 or 0.4
surfVoxelSize: 0.6 or 0.8
In vegetated/poorly-structured environments, it is also very important to set:
motionSensitive: false
In rain forests, we have had good success in replay by limiting the registrationRadius to 25 or 50
meters.
Generally outdoor environments do not necessarily get better using smaller voxel sizes like the
indoor environments do.