Route Planning Suggestions for Typical Scenes

Different scenes have different requirements for the scan route. This chapter provides route planning suggestions for common outdoor and indoor scenes.

Overall Capture Route Principles

1. Ensure as rich observation as possible during scanning.
2. Avoid constantly scanning new areas; walk a certain loop where appropriate.
3. Avoid the influence of moving objects as much as possible.

Outdoor Scenes

Typical scenes: parks, campuses, building clusters, etc.

Indoor Scenes

Take a common office as an example.

Route planning

1. Similar to a multi-floor indoor parking lot, scanning from top to bottom in a serpentine path is recommended.
2. The control point marking method is the same as for the parking lot scene: choose absolute-coordinate control points and mark the core areas.

Entering / exiting doors

• Wrong example: entering a door head-on causes the indoor and outdoor LiDAR point clouds to lose a shared field of view, losing reference objects and causing the data to skew.
• Correct example: enter sideways so that the indoor LiDAR point cloud shares a field of view with the scan area before the door, better connecting the indoor and outdoor data.

Turning corners

• Wrong example: walking straight ahead loses the view of the wall in the lower-left corner, and the LiDAR point cloud loses reference objects and easily becomes inaccurate.
• Correct example: turn sideways at a certain angle when cornering so that the LiDAR can scan both the lower-left wall and the right-side outline at the same time, better connecting the data.

Entering / exiting narrow spaces

When exiting after scanning a narrow space, observe whether there were enough reference objects during scanning and whether the structural features are obvious. If these two conditions are not met, aim the view at areas with good structural features when exiting, and avoid overly large view changes.

• Wrong example: turning around and exiting directly leads to missing reference objects and insufficient structural feature constraints.
• Correct example: back out or exit sideways.