PX-80

FIELD GUIDE
2019
LEARN TO USE
THE PX-80
SETUP
 WHAT’S IN THE BOX
● PX-80 LiDAR Scanner
● Apple® iPad mini™ 4 & Accessories
● iPad Protective Case & Pole Mount
● Extension Pole
● 18V International Power Supply
● Hardshell Storage Case
● One External Battery
● External Battery Holster
● Dual External Battery Charger
● Dual External Battery Charger Adapter
 SPECS DATA

Colorimages Street-view style navigation in .JPEG

photospheres. Cubemap, not
equirectangular
COLORCAMERA
Point clouds RGB colorized .LAS and .PLY
Resolution 2048 x 1536
Data transfer Via USB 3.0
Maximum frame rate 50 fps - ~155megapixels/sec
On-deviceProcessing 1:5 scan to processing time
Coverage 360° x 250°

LiDAR
HARDWARE
Type Velodyne VLP-16
Weight 6.4 lbs / 2.9kg

Height 26.7 cm FOV horizontal / vertical 360°/30° (±15°)

Diameter 16.2 cm Acquisition 300,000 pts/sec

Extensionrod 43-76 in Range 0.5-80 m

Batterylife 1.3 hrs Environment Indoor & outdoor

Recharge time 4 hrs Relative accuracy ±2- 3 cm

 PX-80 Scanning App Windows Project Viewer
Capture is the user interface for PX-80. Itcontrols Explore your scans in street-view style by navigating
data collection, provides real-time scanning through high-resolution spherical imagery. Visit your
feedback, and post-processing options. The app site remotely, record progress, and organize scans
connects to PX-80 via a local wireless network and by date and location.
does not need internet access to operate.
MOUNT IPAD
ATTACH EXTENSION POLE
ATTACH BATTERY HOLSTER
 POWER ON /OFF
The master POWER switch must be on
before you start PX-80. Turn it off when
you store the device to preventbattery
drain.

To start PX-80, tap START button.

To turn off PX-80, press and hold START

button for a few seconds. The blue light
turns off to indicate when shutdown is
complete.
 BATTERY AND
POWER INFO
External
BATTERY INDICATOR POWER
Battery
ACCESSORIES

BATTERY LIFE International

Wall Adapter
PX-80 internal
40 min International
battery Power
Adapter
1ext battery 90 min External Battery
Holster
Standard
(PX-80 +1 ext) 2 hrs 15 min Dual External
Battery
Pro Kit Charger
(PX-80 +3 ext) 5 hrs
 GENERAL OPERATION TIPS

● Limit captures to a length of 35 mins or less. We

recommend 8 -12 mins scans as you start.

● Ensure scans overlap by a minimum of 2 meters ifyou

plan to register data together.

● Return the same location and overlap 2 meter to

minimize drift and get good automatic loop closure.
CONFIGURE & CAPTURE
1. REMOVE THE LENS CAP from the top camera and
turn the PX-80 on.
2. Turn the iPad mini on and pair it with your PX-80
using the WiFi hotspot
3. Hold up the device and place it in the harness, if
using. (Harness is included in optional Pro Kit).
4. Launch the Capture app and tap CAPTURE to begina
new scan.
5. Hold PX-80 upright, wait a few seconds, and walk
forward at a steady pace.
6. Tap SAVE or CANCEL to stop capturing.
7. When finished, replace the lens cap, power off the
device, and return PX-80 to its case.
SCANNING
PREP THE ENVIRONMENT

● Scout the area to plan your route

● Prop open doors along yourroute
(door wedges are useful)
● If a room is full of people, ask everyone to
stay at their desks (if possible)
● Well-lit environments are better for the
camera
 WHERE TO START CAPTURE

Make sure to start your scan in an area with a wide field of view.

Good places to start: Not-so-great places to start:

● Large rooms connectedto ● In the middle ofa narrow tunnel or
many hallways hallway
● If you are scanning tunnels or ● In a dead-end corner, facing awall
hallways, start where multiple
hallways intersect
REMOVE THE
LENS CAP
 EXTEND THE POLE

Fully extend the pole

before starting
● Prevents head of operatorfrom
blocking LiDAR Field of View
 CLEAR FIELD OF VIEW

DON’T: Vertical hold DO: Vertical w/pole

extended
 OPTIMIZE FIELD OF VIEW

DON’T: Tilted hold DO: Tilted w/pole extended

 HOLD YOUR PX-80

Extend pole, hold at your waist Lifting up =tired arms

 Options to hold

Standard position Vertical hold

Captures floor in front & ceiling behind. Not as much detail of floor & ceiling. Ideal
Great for detailed indoor capture. for 2D floor plans & outdoor capture
Carrying
Harness
How to set
scanning
pace and
make
adjustments
 Two-Stop Method

At the first stop, carefully move scanner to vertical position and maintain that position until the second stop.
 Capture Modes

PREVIEW

See the points as you scan

POWER SAVING

No interface while scanning

Preview Mode
 Interpreting Preview Mode
Minor Drift Major Drift

Example #1

Example #2
Interpreting Preview Mode

● Preview mode shows the top-down view.

● The preview will be less accurate than thefinal
reconstruction.
● If you see minor “drift,” your scan is fine and the
SLAM algorithm will fix it.
● If you see a major drift (something that lookslike
a tornado) then it’s possible you rotated too fast
and lost tracking. To be on the safe side you
should stop the scan and try again.
 ● We recommend you walk down the
stairs to scan them, because the angle
will be better for tracking.
● First, prescan the stairs by stopping at
the top and angling the LiDAR stream

Scanning down the stairwell.

● As you walk down the stairs, makesure
Stairs your scanner stays fairly steady.
● Scanning stairs is an advanced task, so
we highly recommend scanning them
separately. We also recommend getting
a lot of overlap with the stairs on each
floor, then registering the scans
afterwards so you do not losetracking.
 ● Keep the device vertical as you move
through the doorway
Scanning ● Move slowly!
● Walk into the center of the room,
Small Rooms stand still and slowly tilt the deviceto
capture floor and ceiling (ifneeded
● Do not rotate to leave the room.
Instead, back out of the roomslowly
while keeping the PX-80 vertical.
PACKING UP
THE PX-80
AND
ACCESSORIES
RECONSTRUCTION
PREVIEW/RENAME CAPTURES
1. To preview your results, tap the picture of the
capture and the Capture app will display your
data in a full-screen view. This feature shows a
simple image preview at the moment.
2. Once a capture is selected, you canrename,
delete, reconstruct, or export it.
3. To batch process multiple captures, press each
applicable capture, one at a time, until all are
selected. Now, you can delete, reconstruct,
and/or export them all atonce.
RECONSTRUCT
1. Select the applicable capture(s) and tap the
Reconstruct button to process your scans.
2. Scans are processed locally within the PX-80
device.

Tips:
● The ratio of scan and process timeis
roughly 1:5
● Keep the PX-80 plugged into a charger while
it’s processing
 EXPORT & TRANSFER
PX-80 EXPORTS IN 4 FILE FORMATS
2 Color Point Cloud Formats - .ply and .las
You can use these file formats in any software made for point clouds.

Retrace File - .retrace

This file format is used in our software solution Retrace. It includes a point cloud and
cube mapped images.

Dashboard (RAW) File - .dashboard

We suggest exporting dashboard files to archive your scans. RAW data files can be
reprocessed at a later date, either by Paracosm or through ourDashboard
software--which will be useful as we improve our processing software. A dashboard file
can also be used to process off device in the future with our new app, Dashboard.
 EXPORT & TRANSFER
USB Transfer

1. Plug a NTFS formatted flash drive into the USB port

2. Select your scan(s) and press Export to saveyour
data to the flash drive.
3. Remove the flash drive and use it to transferyour
data to your desktop workstation.

Wi-Fi Data Transfer

1. Connect your laptop or desktop to your PX-80

Hotspot.
2. Open a browser, type http://172.17.0.1 into the
address bar, and press Enter to see Capture.
3. Navigate to the project or capture you are saving,
click Export, and select the Download option.
4. The files will download directly to your computer
ADVANCED
 ● The less area occluded by the
scanning technician, the better
● For more complex spaces, consider
taking some preliminary scans to see

GENERAL how they come out before

committing to a longer scan
TIPS ● It is better to overlap scannedareas
than to go a long distance and then
return (don’t use a lawnmower
pattern)
● It’s better to scan with fewer people
and moving objects in the scene
 The device tracks its position
based off what it has seenbefore.
Transitions When moving into a new area,
between take the transition very slowly so
that the device has enough
rooms opportunity to connect new
things it sees to the old stuff it has
already seen.
Scan Path
SLAM tracks your motion
through a space, so you can
walk in a straight line or do‘S’
like patterns through a space.
 It might seem silly but ithelps.

Pretend Make wide turns whenever

you are possible. This ensure that quick

pivots do not cause trackingloss
a truck and broken scans.
Annotations
 Plan your route
When preparing to go on site, make sure you think about the way you
want to scan. Any prep work you can do to make sure your route is
well understood and managed will improve your scanningexperience.

Below is an example ofa small site that we planned out.

PLAN YOUR ROUTE
PLAN YOUR EXTERIOR SCAN

Exterior scan
Interior scan 01
Interior scan 02
PLAN YOUR INTERIOR SCANS

Exterior scan
Interior scan 01
Interior scan 02
PLAN YOUR INTERIOR SCANS

Exterior scan
Interior scan 01
Interior scan 02
 PLAN YOUR ROUTE

Exterior scan
Interior scan 01
Interior scan 02
 A lot of folks confuse a loop closure
failure and a tracking loss.

Loop closure failures are rare. Tracking

loss occurs frequently as the operator

Common
learns how the machine works.

With practice and understanding of the

Errors
device, tracking loss will be minimized
and your team will know when to expect
any issues and take measures to avoid
them.

Most of our tips and tricks focus on

preventing tracking loss.
 Tracking loss is when the device does not
see how two parts of a scene are connected.
This leads to twisted scan results.

Happens most often in transition areas like

doorways, hallways, and small spaces.

Tracking Loss
Following the advanced tips & tricks to
get slow & steady scans will prevent
tracking loss.

Example of Tracking Loss

 A loop closure is when the
Paracosm SLAM software
recognizes a place that it’s been
to before. When it recognizes that
place, it looks to see if there was
significant drift between those
captured locations.

Loop Closure: If there was significant drift, then

it closes the loop and correctsthe
What does it error throughout the entire scan.
If there is no significant drift,then
mean? nothing happens.
 Before: Drift Error

The difference
After: Loop Closure Correction
Drift after 12 Linear CityBlocks
 Paracosm SLAM tracks the motion of
the device as you walk around a
space. The tracking is frame to
frame, which means we track where
you are going based on where you
just were. This tracking is very

Why Loop accurate when in wide open spaces

because there are many common

Closure Helps features.

When traveling long linear

distances (city blocks or long
winding interior hallways) youare
always seeing new parts of the
environment with new features
so there are more opportunities
for drift to accumulate.
 Environments to scan inloops:

Any environment where you travel a long linear

distance from the beginning without seeingmany
commons features, e.g.:

○ Long winding hallways

○ Multiple city blocks
○ Tunnels
○ Warehouses with dense rows

When Loop Environments where loop closure may NOTbe

needed:

Closure Helps Any environment where you frequently see similar

features. This is commonly more open spaces, where
even if you scan a long time, you are capturing the
same features multiple times, e.g.:

○ Open warehouses
○ Outdoor courtyard
○ Open floor plan office
○ Small compact indoor environment
 ● At the start of the scan, holdthe PX-80
vertical and still for 20-30 seconds
How to Use before tilting the pole.
● When looping back to your starting
Loop Closure point, move very slowly and again hold
the PX-80 in the vertical position.
● Overlap from your starting point by
The PX-80 detects loops using the geometric
features captured by the LiDAR. To detect a
about 10 seconds
loop, it needs to be in a similar position in an ● Note: loop closure will not fix broken
environment and have a similar field of view. scans due to tracking loss. Moving the
PX-80 slowly into new areas (rooms,
doorways, hallways) will improve the
tracking quality. Try to scan smoothly,
moving slowly when turning around or
taking corners.
 Loop Closure is the best method to scan
multiple stair levels. Here are some tips.

● Be careful. Make sure the PX-80 is steady,

and hold it at an angle to the stairwell that
enables you to keep the largest field of
view possible.

Multiple Stair
● When you are navigating the staircase
landing, it is very important to turn very
slowly.

Levels ● Before taking a turn, change the

orientation of the PX-80 pole from a
forward angle to vertical. Do this very
Part 1 slowly. Then, take a very slow turn/U-turn
without changing the orientation of PX-80
pole.

● After the turn, you can change the

orientation of pole from vertical to a
particular angle as you need.
 For the proper loop-closure technique
while scanning stairs follow these steps.

● Before scanning, wait for 10 seconds for the

real time preview to load, and begin once
you are able to see multiple points.

● Start and finish your capture at the same

orientation, and at the same point. For

Multiple Stair
example, if you face north while starting the
scan then you should be facing north as well
when you are completing the scan.

Levels ● Before climbing a staircase, take a little time

to slowly turn around your starting point for
about 20-25 seconds (within a range of 4-5
metres). Do the same while completing the
Part 2 scan, at approximately the same point where
you started. This will help you get as many
chances of loop closure as possible.

● Plan your route (number of floors) in such a

way that you are able to go forward and
return at the starting point in ten minutes.
TECH DEEP DIVE
What the
Top Camera Sees
LiDAR: 360° Horizontal
LiDAR: 30° Vertical
Camera: 360° Horizontal
Camera: 250° Vertical
What the
LiDAR Sees
LiDAR: 360° Horizontal
LiDAR: 30° Vertical
Camera: 360° Horizontal
Camera: 250° Vertical
PX-80 Range
0.5 m to 80 m
Even though the minimum range
is 0.5 m, try to avoid scanning
at closer than 1mfor extended
periods
 Hold vertical for good
horizontal coverage.

If you have a narrow

hallway with a sharp
corner, the vertical
Angles for position might provide
the best tracking.

Different
Fields of View To get more floor &
ceiling coverage, angle
the scanner forward.

This captures the floor

in front of you and the
ceiling behind you.
Angles for
Field of View
*
● Areas directly above and below the
LiDAR are blind spots.

● You can scan with the device facingany

direction.

● If you are making large rotations, tryto

keep the movement slow and steady.

* Do not continuously move the scanner up and down to capture. Illustrated tilt is just one motion to
change direction of LiDAR Field of View, not an example of necessary repetitivemotion.
How Does
LiDAR Work?
 SLAM deals with the
problem of a machine

SLAM
understanding its
environment and its
position and movement
Simultaneous within that environment.
Localization
While its origins date back
And
to robotics papers
Mapping
published in 1986, SLAM
technology has only
recently advanced due to
improved processing power
and 3D-sensing hardware.
SLAM Basics
SLAM Basics: Tracking
SLAM BASICS: Our tracking is 6-DoF
THINGS THAT ARE BAD FOR SLAM

● Moving environment
○ SLAM tracks your motion through the environment. If a majority
of the environment is not static it couldget confused.
● Too much change too fast
○ Be sure to pause for a second when transitioning through
doorways or around corners.
● Fast rotation on multiple axis
○ Even though our SLAM tracks within 6 DOF, in difficult
environments try to limit motion toa single axis at a time.
E.g., don’t tilt the device forward while also rotating 180
degrees.
THINGS THAT ARE BAD FOR SLAM
Narrow indoor environments (hallways or doors) filled with lots of motion
Bad Good
MAINTENANCE
 HOW TO UPDATE
We will let you know by
email when we have
released an update.
Update issues?
Updating is easy. Here’s how to doit:
We have found that some
networks just don’t want to
● Turn PX-80 on and connect it connect to PX-80. If this happens
to the internet via an ethernet to you, we suggest that you try a
different network WiFi router or
cable for ~10 minutes.
ethernet port to update your
● Once 10 minutes has passed, unit.
refresh the Capture app to
verify the version number.
● Unplug the ethernet cable and
you should be good to go!
 CLEANING
The two main areas that should be cleanedregularly
are the Top Camera and LiDARSensor.
Keeping We recommend wiping them with a CLEAN microfiber cloth
until all fingerprints and dust have beenremoved.
your device
If necessary, you may use 91% isopropyl alcohol, but this can
clean is damage the black finish on the PX-80 shell. Please do so
carefully, avoiding contact with the shell.
VERY
When scanning areas with minimal features,
important dust and fingerprints can add noise to yourscan
data.
*NEVER use ammonia or other cleaning agents on your PX-80.
CALIBRATION

• Each PX-80 is calibrated before it is

shipped. If the device is struck or
any damage occurs, there is a
chance it will lose calibration and
need maintenance.

• We suggest annual calibrations

to maintain the device at
optimal operation.
 ● On device storage 1TB
● Best to transfer data at the endof
each day

Battery ● Standard Battery Life is 2 h 15

mins (PX-80 Battery +1 External
& Storage Battery)

Tip: If you ever have any

downtime, it doesn’t hurt to plugin
the charger to keep the battery
topped off.
Using your External Battery
Use external batteries to increase scanning time.

The external batteries add

90 minutes each to your scan time.

Bring a dual charger on site to

cycle batteries for continuous
scanning.

Users with an older Pro Kit

external batteries (BixPower)
can still use it withthe
2019 PX-80 model.
 We are committed to helping youfind
the information you need to succeed.
Find more technical support for all of our PX-80 Bundle products at
support.paracosm.io