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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 b/-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.
A E R I A L S C A N N I N G
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.
R E Q U E S T F O R A D D I T I O N A L S C A N N I N G T I P S
Please submit any additional tips to
info@kaarta.com
for possible inclusion in future revisions of
this manual