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use the same coordinate system as the reference or prior map. The benefit of this process is the
elimination of map-to-map registration when this feature is used. Just load both maps into your
favorite third-party software package and merge them to save it as a single map. Since they both
use the same coordinate system they are already registered.
Localization (Mapping based on a prior map) – The standard way to align your starting position
with respect to a prior map. This generates a second map that uses the same coordinate frame as
the first map. The starting position for the second map defaults to the same location where the
previous map was started.
Localization with Camera (Mapping with the Feature Tracker based on a prior map) - Localizes
when there are sparser features in the environment or when tilting the scanner or for aerial
payloads.
Localization from Last (Mapping based on a prior map from ending position) – Start localizing
where it previously stopped when the first map ended.
Localization with Camera from Last (Mapping with the Feature Tracker based on a prior map
from ending position) - Start localizing where the first map ended when there are sparser features
in the environment or when tilting the scanner for aerial payloads.
KAARTA USER INTERFACE
The Kaarta User Interface replaces the previous RVIZ window that appears during mapping and
localization. There is a parameter in the settings file that can be set to revert to the RVIZ display
in live scanning and/or playback if desired. The new interface is shown below.
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