---
title: "Merge"
slug: "merge"
status: "update"
updated: 2026-11-12T04:06:01Z
published: 2026-11-12T04:06:01Z
canonical: "knowledge.emesent.com/merge"
---

> ## Documentation Index
> Fetch the complete documentation index at: https://knowledge.emesent.com/articles/llms.txt
> Use this file to discover all available pages before exploring further.

# Merge

This article provides an overview of the Aura Merge workflow, including how it works, when to use it, and the three procedures that make up the full workflow.

## How it works

Aura's Merge workflow uses a SLAM-based algorithm to non-rigidly align multiple scan datasets, improving accuracy and usability for complex multi-scan projects. Aura processes each scan individually to produce aligned `.laz` output files. The individual files are then combined in Aura to produce a unified point cloud.

Aura can merge any combination of scan types.

> [!WARNING]
> A merge that includes a Drone RTK, GCP or non-georeferenced scan gives an output that is not georeferenced. Before the merge, set **Georeferencing Mode** to **None** for each of these scans in **Apply Overrides**. For more information, see [Scan compatibility](/articles/merge#scan-compatibility) and [Known issues](/v1/docs/known-issues-and-limitations).

## When to use merge

- A single scan does not cover the full project area.
- Multiple scans from different positions need to be combined into one point cloud.
- Multiple Vehicle RTK or Backpack RTK scans need to be combined into one georeferenced point cloud.

## The merge workflow

The merge workflow is split across three articles:

1. [Merge scan data](/v1/docs/merge-workflow): configure and run the merge in Aura.
2. [Combine merged datasets](/v1/docs/combine-merged-datasets): inspect, validate, and save the output as a unified point cloud.
3. [View the combined accuracy report](/v1/docs/view-the-combined-accuracy-report) (Vehicle RTK and Backpack RTK scans only): generate a combined accuracy report from the merged scan outputs.

## Scan compatibility

Aura can merge any combination of scan types. The merged output is georeferenced only when every scan in the merge is a Vehicle RTK or Backpack RTK scan (GX1, ST, STX). If the merge includes a Drone RTK, GCP or non-georeferenced scan, set **Georeferencing Mode** to **None** for that scan in **Apply Overrides** before the merge.

## Processing notes

| Scan type | Processing requirement |
| --- | --- |
| Vehicle RTK or Backpack RTK scan † | Process each scan with the correct device type under **Georeferencing** mode. Set the base coordinate reference system to match the system used for RTK corrections. **Georeferencing** must be enabled in **Processing Settings**. |
| Drone RTK or GCP scan | Before the merge, set **Georeferencing Mode** to **None** in **Apply Overrides**. |
| Non-georeferenced scan | Set **Georeferencing** mode to **None** in **Processing Settings**. |
| Scans from Aura earlier than 1.10 | May default to GPS for non-georeferenced scans. Reprocess in Aura 1.10 or later with **Georeferencing** set to **None**. |

† Vehicle RTK and Backpack RTK are the Georeferencing Mode options for GX1, ST and STX scans.

## Troubleshooting

| Issue | Cause | Solution |
| --- | --- | --- |
| Merged output is not georeferenced | **Apply Overrides** was not used, or the merge includes a Drone RTK, GCP or non-georeferenced scan | If every scan is a Vehicle RTK or Backpack RTK scan, select the georeferencing mode in **Apply Overrides** before the merge. If not, the merged output is not georeferenced. For more information, see [Scan compatibility](/articles/merge#scan-compatibility). |
| Vehicle RTK and Backpack RTK scans require manual alignment | No Vehicle RTK or Backpack RTK scan was set as the **Alignment Preview File** | Select a Vehicle RTK or Backpack RTK scan as the **Alignment Preview File** (satellite icon). |
| Aura is not detecting scan files | Wrong folder selected, or scans not processed | Select the **offload folder** containing `.bag` files, not the `Output` folder. |