Faro Scans

MultiSet supports point cloud data captured using Faro laser scanners. To ensure the best localization performance, the data must be captured, processed, and exported according to specific guidelines.

Supported Hardware

The following Faro devices are fully supported:

• Faro Focus Series

• Faro Orbis

• Faro Flash/Hybrid (formerly Blink/Swift workflows)

Scanning Guidelines

High-quality data capture is essential for accurate localization. Please adhere to the following best practices during the scanning process:

• Scan Spacing: Maintain a distance of 1–2 meters between scan locations. Close spacing ensures high overlap, which is critical for visual positioning.

• Lighting: Ensure the environment is well-lit. Avoid scanning in pitch-black areas or environments with rapidly changing lighting conditions.

• Static Environment: Minimize movement during the scan. Avoid areas with heavy foot traffic or moving machinery. If people are present, ask them to stand still or mask them out during post-processing.

Altimeter Settings (Critical)

Before starting your scan, you must disable the Altimeter on the scanner or controller app.

MultiSet requires the point cloud to use Local Y coordinates (relative to the first scan) rather than absolute geodetic height. Using the altimeter can introduce vertical shifts that misalign the map with the device's camera feed.

Post-Processing in Faro SCENE

Once data capture is complete, import your raw scans into Faro SCENE software.

1. Registration: Register your scans to create a cohesive project.

2. Cleanup: Manually clean the point cloud to remove noise, reflections (from mirrors or glass), and "ghosts" caused by moving people or objects. Clean data results in faster and more accurate localization.

Exporting for MultiSet

To generate a compatible map file, you must export the data as an .e57 file with specific settings enabled.

1. In Faro SCENE, right-click your processed cluster or project and select Export > Export Scan Points.

2. Set the Format to E57 Files (*.e57).

3. Crucial: Ensure the Color Panorama Image checkbox is CHECKED. MultiSet relies on these panoramic images for visual feature extraction.

4. Ensure Full Scan is selected (do not use "Selection" unless you specifically intend to crop the map).

5. Click Export.

Upload

Once the .e57 file is generated, zip it and then log in to the MultiSet Developer Portal and upload the file to create your new Map.