Map Query

VPS Query API

Query your map to get the device position with respect to Map local origin, the query API takes query image (encoded as base64 string) and other image metadata.

Query a VPS map with specific parameters

post

Authorizations

bearerAuth

AuthorizationstringRequired

Bearer authentication header of the form Bearer <token>.

Body

application/json

mapCodestringOptional

Unique identifier for the VPS map

Example: MAP-X2P23E7Q35VD

isRightHandedbooleanOptional

Flag to indicate if response pose is in right-handed coordinate system

Example: false

queryImagestring · base64Required

Base64 encoded image data

Example: data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAA8AAAALQCAIAAADQFY7jAAAgAElEQVR4AaS9+5NdR5Lfh34BjW4AxJMgOTN8zCw5OzHriV2vvFrZDjtCVki2Xt5VaKVdybLClsL+3xz23+DQr9ZPlmO16xmvh

Responses

200

Query successful

application/json

400

Bad request

application/json

401

Unauthorized

application/json

post

/vps/map/query

HTTPcURLJavaScriptPython

POST /v1/vps/map/query HTTP/1.1
Host: api.mulitset.ai
Authorization: Bearer YOUR_SECRET_TOKEN
Content-Type: application/json
Accept: */*
Content-Length: 388

{
  "mapCode": "MAP-X2P23E7Q35VD",
  "cameraIntrinsics": {
    "fx": 664.3856201171875,
    "fy": 664.3856201171875,
    "px": 478.9782409667969,
    "py": 364.9932861328125
  },
  "isRightHanded": false,
  "resolution": {
    "width": 960,
    "height": 720
  },
  "queryImage": "data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAA8AAAALQCAIAAADQFY7jAAAgAElEQVR4AaS9+5NdR5Lfh34BjW4AxJMgOTN8zCw5OzHriV2vvFrZDjtCVki2Xt5VaKVdybLClsL+3xz23+DQr9ZPlmO16xmvh"
}

{
  "poseFound": true,
  "position": {
    "x": 2.482360321597187,
    "y": 0.11936171927197065,
    "z": 8.06609995252609
  },
  "rotation": {
    "x": 0.02949315565629783,
    "y": 0.7673793569590026,
    "z": -0.01740867960782986,
    "w": 0.6402780756491143
  },
  "confidence": 0.459232334365416
}

Query a VPS map or mapset using form-data

post

Authorizations

bearerAuth

AuthorizationstringRequired

Bearer authentication header of the form Bearer <token>.

Body

multipart/form-data

anyOptional

or

anyOptional

or

anyOptional

or

anyOptional

Responses

200

Query successful

application/json

400

Bad request

application/json

401

Unauthorized

application/json

post

/vps/map/query-form

HTTPcURLJavaScriptPython

POST /v1/vps/map/query-form HTTP/1.1
Host: api.multiset.ai
Authorization: Bearer YOUR_SECRET_TOKEN
Content-Type: multipart/form-data
Accept: */*
Content-Length: 210

{
  "mapCode": "text",
  "mapSetCode": "text",
  "isRightHanded": "true",
  "fx": "669.535888671875",
  "fy": "669.535888671875",
  "px": "478.8777160644531",
  "py": "364.9244079589844",
  "width": "960",
  "height": "720",
  "queryImage": "binary"
}

{}

VPS Multi Image Query API

Multi-image query API requires a minimum of 4 images in each request. Up to 6 images can be passed. Higher image counts increase localization robustness and accuracy but may compromise latency.

Multi-image query for a VPS map or map set

post

Performs a query using one or more uploaded images, along with camera intrinsics and optional map or map-set identifiers. Supports up to four images in a single request.

Authorizations

bearerAuth

AuthorizationstringRequired

Bearer authentication header of the form Bearer <token>.

Body

multipart/form-data

anyOptional

or

anyOptional

or

anyOptional

or

anyOptional

Responses

200

Query successful

application/json

400

Bad request

application/json

401

Unauthorized - Missing or invalid token

application/json

404

Map/MapSet not found (if applicable)

application/json

500

Internal server error

application/json

post

/vps/map/multi-image-query

HTTPcURLJavaScriptPython

POST /v1/vps/map/multi-image-query HTTP/1.1
Host: api.multiset.ai
Authorization: Bearer YOUR_SECRET_TOKEN
Content-Type: multipart/form-data
Accept: */*
Content-Length: 697

{
  "isRightHanded": "true",
  "width": "960",
  "height": "720",
  "px": "478.838623046875",
  "py": "365.346618652343",
  "fx": "670.4620971679688",
  "fy": "670.4620971679688",
  "mapId": "",
  "mapCode": "",
  "mapSetId": "",
  "mapSetCode": "",
  "image1": "binary",
  "image1_data": "{\"x\":-5.1772,\"y\":0.2936,\"z\":-2.6439,\"qx\":-0.0185,\"qy\":0.9949,\"qz\":-0.0691,\"qw\":0.0703}",
  "image2": "binary",
  "image2_data": "{\"x\":-3.12,\"y\":1.01,\"z\":2.56,\"qx\":0.0,\"qy\":0.707,\"qz\":0.0,\"qw\":0.707}",
  "image3": "binary",
  "image3_data": "{\"x\":1.23,\"y\":-0.56,\"z\":5.0,\"qx\":-0.0185,\"qy\":0.9949,\"qz\":-0.0691,\"qw\":0.0703}",
  "image4": "binary",
  "image4_data": "{\"x\":10.0,\"y\":-2.0,\"z\":0.0,\"qx\":0.0,\"qy\":1.0,\"qz\":0.0,\"qw\":0.0}"
}

{
  "success": true,
  "location": {
    "position": {
      "x": -5.1772,
      "y": 0.2936,
      "z": -2.6439
    },
    "rotation": {
      "qx": -0.0185,
      "qy": 0.9949,
      "qz": -0.0691,
      "qw": 0.0703
    }
  },
  "confidence": 0.89,
  "mapId": "66ca3f3b773b18f09e131279"
}