This article describes operational scanning techniques for GX1. These techniques apply across all GX1 mounting configurations and are designed to maximise SLAM stability, point density, and overall data quality.
SLAM initialisation
SLAM initialisation is the process of establishing a stable tracking solution before the operator begins moving. Successful initialisation gives SLAM the geometric references it needs to track position and orientation accurately throughout the scan. Beginning a scan in a feature-poor area or moving too quickly during initialisation can degrade accuracy across the entire mission.
Operational guidance:
Begin the scan in a feature-rich area with clear, fixed geometry such as walls, corners, or structural edges.
Remain stationary while Commander completes its pre-scan checks. This gives SLAM the 10 to 15 seconds it needs to stabilise and lock onto surrounding features, so no additional wait is required before moving.
Avoid starting the scan in open or low-feature environments. Insufficient geometry during initialisation can cause long-term drift and mapping errors.
Motion control
Motion control means maintaining stable, deliberate movement of GX1 during scanning. Consistent motion lets SLAM accurately match new LiDAR observations with previously mapped features. Sudden changes in speed, abrupt stops, or erratic movements can cause tracking instability, reduce point cloud quality, and increase the likelihood of SLAM drift.
Operational guidance:
Wait for Commander to confirm pre-scan checks have completed before starting to move.
Keep GX1 at a stable orientation throughout the scan. For Backpack mounts, the scanner sits above the operator's shoulders by design. For Supported Handheld, maintain a consistent pole angle. For Survey Pole, keep the pole as vertical as possible.
Move at a consistent speed with smooth, deliberate motion to ensure even point cloud coverage.
Avoid rapid turns, jerky movements, and abrupt stops.
Keep the scanner oriented so that fixed environmental features remain continuously visible.
Field of view and coverage
The GX1's LiDAR and cameras each have a 360° horizontal field of view, but parts of the view can be blocked by the operator, mounting hardware, or other obstructions. For the full FOV figures by sensor, see GX1 field of view. For guidance on which mount best preserves coverage for a given scan, see Choose a GX1 mount.
Operational guidance:
Keep the scanner oriented so that fixed features stay within the field of view, especially during turns and transitions.
In low-ceiling spaces or when working under structures, plan the scan path to revisit the same area from multiple positions to fill any gaps.
In an area of particular interest, pause and give the scanner time to capture the required detail before moving on.
When ceiling or ground detail is critical, consider a mount that elevates the scanner above the operator.
Loop closure
Loop closure is a scan pattern technique used to reduce SLAM drift and improve scan accuracy. The pattern involves returning to a previously scanned location at least once before the scan ends, and revisiting earlier scanned locations periodically throughout the mission.
Each loop closure strengthens SLAM alignment and improves map consistency by matching later observations to features captured earlier in the scan. Earlier features are typically less affected by drift, so reconnecting them improves the spatial relationship across the entire scan.
Operational guidance:
Plan the scan path to include multiple small loops to maintain consistent SLAM alignment.
Revisit previously scanned areas at regular intervals to reinforce spatial consistency.
End the scan near the original starting point to reduce end-of-scan drift.
Scanning near ground control points
When the mission uses ground control points (GCPs) for georeferencing or accuracy checks, the scan technique around each point affects how well it can be used in processing.
Operational guidance:
Stand within 2 to 3 metres of the GCP for at least 10 seconds to build sufficient point density around it. Denser coverage makes it easier to select the centre of the control point accurately when processing the mission in Aura.
Pass each GCP at a steady, deliberate pace, keeping the marker within the field of view.
Where the mission plan defines GCP locations, follow it so every control point is captured consistently.
Transitions between environments
SLAM performance can degrade during transitions between distinct environments. Visual continuity of geometric features must be maintained across the transition to avoid drift or tracking loss. Typical transitions include moving between rooms, going around a corner, moving between floors of a building, and going outside at the end of an indoor scan.
Operational guidance:
Maintain visibility of features in both the current environment and the next environment during the transition.
Move through transition areas slowly.
Move laterally through doorways to maximise visibility of shared features on both sides.
Keep the scanner aimed at fixed geometric features.
Execute wide arcs around corners and pause briefly at turning points to let SLAM associate shared geometry.
Use stairwells when transitioning between floors. Operating GX1 inside an enclosed moving space, such as an elevator, compromises SLAM and the integrity of the scan.
Scan speed limits
Scan speed limits define the maximum movement rate for GX1 during scanning. Exceeding these limits can cause SLAM to lose tracking accuracy, which reduces point density, introduces mapping errors, or corrupts the scan.
Platform | Maximum speed | Notes |
|---|---|---|
Backpack, Supported Handheld, Survey Pole | Metric: 1.4 m/s (5 km/h) | Maintain a steady walking pace. |
Camera coverage and colorization
GX1 captures continuous video from its integrated cameras during the scan. The operator does not need to stop or pose for individual photos. Aura processes the camera footage into a colorized point cloud and 360 image set.
Because the LiDAR uses infrared, the scan data itself is unaffected by ambient lighting conditions. The integrated cameras are visible-light cameras, so colorization quality depends on the available light at the scene.
Operational guidance:
The cameras need ambient light for usable colorization. In environments lit only by the GX1 Status Indicator Ring or other very dim sources, the scan completes successfully but the colorized point cloud may appear black or near-black. The point cloud geometry itself is unaffected.
Move slowly and steadily through low-light environments. The cameras have a lower maximum exposure than dedicated photography equipment and rely on consistent motion to capture clean images.
In environments with mixed lighting, expect minor white-balance differences between cameras until image correction is applied during Aura processing.
Avoid pointing the cameras directly into bright light sources (sun, vehicle headlights) where possible. Direct light can overexpose adjacent areas of the colorized point cloud.
Aura masks people, including the operator, from colorized outputs and 360 image sets by default. No additional configuration is needed.
If colorization is not required for the mission, disable cameras in Commander before starting the scan. This reduces battery use and saves storage space on GX1's internal SSD.