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Mission Step-by-Step

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RESEPI User Manual
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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:
    • 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 in Figure 1.
Figure 1. INS status window.
RESEPI SLAM
Figure 2. 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 in Figure 3.
      • 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 3. Loop Closure.
  • Elevation Changes:
    • Briefly adjust the unit’s angle to follow the terrain, then resume level scanning, as shown in Figure 4.
Figure 6. Scanning regions with elevation changes.
Figure 4. 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.
Hesai 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.