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an angle and the number of sequential scan planes as defined in the parameter file. The
parameter scanLineLimits can be any range between 0 and 15. i.e. [0 – 3] for the bottom four laser
planes, [5-8] for a set of planes in the middle, and [12 – 15] for the top four planes. In addition to
this you can set the angleLimits parameters in degrees to limit the exclusion zone in azimuth. i. e.
[25,-25] would exclude a segment in front of the scanner between +/-25 degrees. The two
parameters are used together to create a wedge within a certain height range to exclude lidar
data from being added to the map.
AERIAL SCANNING
The feature tracker must be used for aerial scanning.
Mount Stencil at angles up to 75 degrees.
Don’t fly too high (<60 meters).
Focus on Mission Planning: Fly only over 3D structure. Flat fields will cause the algorithms to fail.
Fly smoothly, and limit rotations to <30 deg/sec.
Smooth takeoffs and landings.
Record raw data. This will allow replaying at slower speeds and changing parameters to achieve
the best results.
Use a gimbal if possible which allows smoother vertical scanning of the environment while
hovering.
REQUEST FOR ADDITIONAL SCANNING TIPS
Please submit any additional tips to info@kaarta.com for possible inclusion in future revisions of
this manual
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