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Mission Step-by-Step

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RESEPI User Manual
Table of contents

SLAM Mission Step-by-Step #

This guide walks you through the full process of performing SLAM (Simultaneous Localization and Mapping) scans using a RESEPI payload, including LITE, Ultra LITE, and GEN-II models with 360 degree laser support. It covers setup, initialization, scanning procedure, and data retrieval for both GNSS denied and georeferenced missions.

1. Powering the RESEPI Unit #

  • Power Connections:
    • Use one of the supported input connectors:
      • XT60
      • Skyport/Other
      • Binder connector
      • Ethernet (GEN-II only)
    • Power specs:
      • 9–36 VDC (up to 45 V supported)
      • 24–28 W consumption
  • Insert USB Drive:
    • Plug the provided USB into the RESEPI device.
      • Not required during recording for GEN-II models.
  • Turn On the Unit:
    • Press the power button to boot the device.

2. Connecting to the RESEPI Web Interface #

  • Connect via Wi-Fi:
  • Access Web Interface:
    • Open a browser and go to: 192.168.12.1
  • Update Settings:
    • Navigate to the Status window to configure the SLAM Settings menu
      • This is optional, but recommended for faster post processing workflow
      • If not using Outdoor (georeferenced) or Indoor (non-georeferenced) settings, the user can use custom settings in PCMasterPro SLAM window
      • Click Save
    • Navigate to:
    • For GNSS denied scans:
    • For georeferenced scans:

3. GNSS and Time Fix Requirements #

SLAM missions may or may not require GNSS depending on your hardware and whether the data needs to be georeferenced.

RESEPI LITE & Ultra LITE (GNSS Denied Use) #
  • No GNSS setup is required.
  • You may skip the time fix steps and proceed directly to data collection.
RESEPI GEN-II #
  • Connect the GNSS antenna before starting.
  • Begin the procedure outdoors with clear satellite visibility.
  • Wait for a valid time fix before scanning:
    • In the Web UI, verify the INS status window.
    • A successful fix is indicated by:
      • The correct current date/time
      • Status: “Ready to log”

Once this message appears, scanning (including indoors) can begin.

Georeferenced SLAM (All Models) #
  • GNSS time fix is required.
  • Start and preferably end the mission outdoors in GNSS-friendly conditions (clear sky, minimal obstructions).
  • Confirm “Ready to log” status in the Web UI before proceeding, as shown below.
Figure: INS status window
RESEPI SLAM
Figure: Setting up SLAM/GNSS Data recording

4. Starting a SLAM Scan #

  • Begin Recording:
    • In the Status window, press “Start”
    • Alternatively, tap the power button to begin data logging.
  • IMU Initialization:
    • Keep the RESEPI completely still for 10 seconds to allow IMU alignment.
    • Avoid motion during this period.

5. Scanning Procedure #

  • Motion Guidelines:
    • Walk smoothly and avoid jerky movements or prolonged immobility.
    • Avoid rotating or swinging the unit wildly.
    • System supports speeds up to 30 mph, but slower is ideal.
  • Loop Closures:
    • Plan your route to return to the starting area, creating a loop closure, as demonstrated below.
      • Closing the loop between start and end is most critical for high-accuracy results.
    • You may loop around other significant areas, but avoid excessive looping, which may interfere with SLAM relocalization.
Figure 5. Loop Closure.
Figure: Shows example recommended SLAM path
  • Elevation Changes:
    • Briefly adjust the unit’s angle to follow the terrain, then resume level scanning, as shown below.
Figure 6. Scanning regions with elevation changes.
Figure: Scanning regions with elevation changes

6. Ending the SLAM Scan #

  • Final Static Alignment:
    • Hold the unit still for ~5 seconds to help finalize IMU alignment.
  • Stop Recording:

7. Shutting Down the Device #

  • Standard Shutdown:
    • Press “Shutdown” in the Web UI
    • Or hold the Power Button for 4 seconds
  • Emergency Shutdown:
    • Hold the Power Button for 10 seconds
    • Note: This may interrupt logging — only use if necessary.

8. Retrieving and Processing SLAM Data #

  • For GEN-II devices only, navigate to Storage and transfer the dataset from internal to USB storage
  • Remove the USB drive
    • GEN-II: Ensure transfer to USB is fully completed before removal
  • Transfer files to your computer.
  • Use PCMasterPro software to post-process and generate point clouds.

Best Practices & Notes #

Data Quality Tips #
  • SLAM performance depends on what the LiDAR “sees.”
  • Avoid power button use for starting/stopping recordings to reduce unnecessary motion
  • Avoid scanning featureless or reflective areas — structure and texture are helpful.
  • In visually complex environments (e.g., pipes, beams, tight spaces):
    • Move slowly and steadily.
    • Allow the sensor time to collect overlapping keyframes.
XT-32, XT32-M2X LiDAR Users #
  • In dense metallic or structured areas (e.g., stadiums, framing, HVAC systems, temporary structures):
    • Go to LiDAR Service Tab for LITE/Ultra LITE or GEN-II in Web UI and enable Interstitial Points Filtering
      • This removes stray points and improves SLAM precision.