> For the complete documentation index, see [llms.txt](https://docs.multiset.ai/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.multiset.ai/fundamentals.md).

# Fundamentals

- [Maps](https://docs.multiset.ai/fundamentals/maps.md): Browse the maps in your account, read their status and details, and download the output assets such as the mesh GLB.
- [Mapping Instruction](https://docs.multiset.ai/fundamentals/maps/mapping-instruction.md): Capture technique for the MultiSet Mapping App: distance to surfaces, viewpoint variety, speed, corridors, session overlap and surfaces to avoid.
- [Mapping Planning](https://docs.multiset.ai/fundamentals/maps/mapping-planning.md): Plan a scan path that gives VPS enough visual features, with recommended distance to surfaces and a fronto-parallel approach.
- [Mapping Equipment](https://docs.multiset.ai/fundamentals/maps/mapping-equipment.md): Pick the right scanning device for your space, from phone LiDAR in small rooms to professional scanners in large venues.
- [Output Asset](https://docs.multiset.ai/fundamentals/maps/output-asset.md): Every processed map produces viewable, downloadable assets: panoramas, meshes, and Gaussian Splats. Which ones you get depends on what you uploaded.
- [Mesh](https://docs.multiset.ai/fundamentals/maps/output-asset/mesh.md): Every map produces a raw (untextured) and a textured GLB mesh of the scanned space.
- [Gaussian Splat](https://docs.multiset.ai/fundamentals/maps/output-asset/gaussian-splat.md): Photoreal Gaussian Splat output, as a raw .ply and a compressed .spz, aligned to the map's coordinate frame.
- [Panoramas](https://docs.multiset.ai/fundamentals/maps/output-asset/360-virtual-tour.md): Walk through a mapped space as a navigable 360° panoramic tour.
- [Map Versioning](https://docs.multiset.ai/fundamentals/map-versioning.md): Merge scans of the same space captured at different times, without breaking the content layer.
- [MapSet : Multiple Maps](https://docs.multiset.ai/fundamentals/mapset-multiple-maps.md): Combine several maps into one MapSet so a large venue behaves as a single coordinate space for localization.
- [Merging Maps without Overlap](https://docs.multiset.ai/fundamentals/mapset-multiple-maps/merging-maps-without-overlap.md): A MapSet is created when merging multiple maps together, this is especially required to capture large venues to enable VPS in large areas.
- [Extend a MapSet](https://docs.multiset.ai/fundamentals/mapset-multiple-maps/merging-maps-without-overlap/extend-a-mapset.md): Docs on how to merge more maps into an existing MapSet
- [Merging Maps with Overlap](https://docs.multiset.ai/fundamentals/mapset-multiple-maps/merging-maps-with-overlap.md): Create or extend a MapSet by merging maps that share an overlap area, aligned by the MultiSet VPS rather than geometric matching.
- [Adjust Map Transformation](https://docs.multiset.ai/fundamentals/mapset-multiple-maps/adjust-map-transformation.md): Fine tune the position and rotation of an individual map inside a MapSet to fix misalignment left over from merging.
- [Merging Maps Manually](https://docs.multiset.ai/fundamentals/mapset-multiple-maps/merging-maps-manually.md): Align two maps by hand using visual geometry hints, for scans that lack the overlap needed for automatic alignment.
- [Object Tracking](https://docs.multiset.ai/fundamentals/object-tracking.md): Anchor AR content to a physical object by uploading its 3D model, with model requirements and tracking best practices.
- [How to Setup Object Tracking](https://docs.multiset.ai/fundamentals/object-tracking/how-to-setup-a-object-tracking.md): Step by step setup for an object tracking target: prepare the 3D model, choose 360 view or side view, then upload and process.
- [Credentials](https://docs.multiset.ai/fundamentals/credentials.md): Create and manage the client ID and secret used to authenticate MultiSet REST API calls and SDK sessions, including scopes and token handling.
- [Configuring Allowed Domains (CORS)](https://docs.multiset.ai/fundamentals/credentials/configuring-allowed-domains-cors.md): Whitelist your web app domain so browser based calls to the MultiSet Public API are not blocked by CORS.
- [Webhooks](https://docs.multiset.ai/fundamentals/credentials/webhooks.md): Receive a signed HTTP callback when a map, map set, or tracked object changes state, instead of polling the API for status.
- [Team Members](https://docs.multiset.ai/fundamentals/team-members.md): Invite teammates to your MultiSet account, assign roles, and control what each person can access.
- [Analytics and Usage](https://docs.multiset.ai/fundamentals/images-and-media.md): Track localization performance per map and per object from the MultiSet Developer Portal
- [Downloads](https://docs.multiset.ai/fundamentals/downloads.md): Download the MultiSet App and the Unity SDK packages.
- [Localization](https://docs.multiset.ai/fundamentals/localization.md): How VPS localization works, the difference between single frame and multi frame queries, the pose coordinate system, and every localization parameter.
- [Robustness](https://docs.multiset.ai/fundamentals/localization/robustness.md): How MultiSet holds up against changing light, moving people, repetitive corridors, and bare surfaces, and the levers you have when it does not.
- [Query Mode](https://docs.multiset.ai/fundamentals/localization/query-mode.md): Choose between the fast default engine (VPS-1) and the slower, more accurate deep-search engine (VPS-2) for Single Frame Query.
- [Equirect Query](https://docs.multiset.ai/fundamentals/localization/equirect-query.md): Localize from a single 360° equirectangular panorama, with no camera intrinsics to supply.
- [HintFloorHeight](https://docs.multiset.ai/fundamentals/localization/hint-floor-height.md): Restrict localization search to a specific floor using a vertical Y-axis band
- [HintPosition](https://docs.multiset.ai/fundamentals/localization/pose-prior-hintposition.md): HintPosition helps to reduce the localization search scope in large maps
- [HintRadius](https://docs.multiset.ai/fundamentals/localization/hint-radius.md): Control the search radius around hintPosition or geoHint to tune the localization search scope
- [Hint MapCodes](https://docs.multiset.ai/fundamentals/localization/hint-mapcodes.md): Pass Hint MapCodes in your MapSet query to reduce the localization search scope
- [GeoHint in Localization](https://docs.multiset.ai/fundamentals/localization/geohint-in-localization.md): Pass approximate GPS coordinates with a localization query to narrow the search, and read the returned geo coordinates. Works for Maps and MapSets.
- [GeoPose Support](https://docs.multiset.ai/fundamentals/localization/geopose-support.md): The GeoPose object in the localization response, how it relates to local map coordinates, and when to use each.
- [Coordinate Systems](https://docs.multiset.ai/fundamentals/localization/coordinate-systems.md): MultiSet VPS returns poses in left-handed Y-up (Unity, the default) or right-handed Y-up (ARKit, ARCore, WebXR) coordinates via the isRightHanded flag.
- [Simulation](https://docs.multiset.ai/fundamentals/localization/simulation.md): Test and compare VPS localization against a map or MapSet in the Developer Portal using previously captured simulation data.
- [REST API Docs](https://docs.multiset.ai/fundamentals/rest-api-docs.md): Index of the MultiSet REST API: endpoints for Maps, MapSets, object tracking and localization queries.
- [Authentication](https://docs.multiset.ai/fundamentals/rest-api-docs/authentication.md): Exchange your client ID and secret for a bearer token, valid 30 minutes, with browser and Node.js examples.
- [Map Query](https://docs.multiset.ai/fundamentals/rest-api-docs/map-query.md): The three VPS query endpoints that return a 6-DoF pose, JSON body, form data and multi image, plus every optional query parameter.
- [Map Operations](https://docs.multiset.ai/fundamentals/rest-api-docs/map-operations.md): File link and mesh replacement endpoints, including how to swap a map's textured or raw mesh.
- [MapSet](https://docs.multiset.ai/fundamentals/rest-api-docs/mapset.md): Create, read, update and delete MapSets, add maps with or without overlap, and set the pose of a map inside a set.
- [Map Upload](https://docs.multiset.ai/fundamentals/rest-api-docs/map-upload.md): Upload a scan in parts to S3, with a standard flow and a resumable flow that survives an interrupted connection.
- [MatterPak Upload](https://docs.multiset.ai/fundamentals/rest-api-docs/map-upload/matterpak-upload.md): Create a map from a Matterport MatterPak by posting map metadata and Matterport credentials, with no file upload.
- [Gaussian Splat Upload](https://docs.multiset.ai/fundamentals/rest-api-docs/map-upload/gaussian-splat-upload.md): Upload a Gaussian Splat (.ply + poses.json) as a Multiset VPS map via the REST API.
- [Object Upload](https://docs.multiset.ai/fundamentals/rest-api-docs/modelset-upload.md): Create an object tracking target by posting object metadata and uploading the 3D model to the returned presigned URL.
- [Map details](https://docs.multiset.ai/fundamentals/rest-api-docs/map-details.md): Fetch a single map by map code, or list every VPS map on the account, with status, location and spatial metadata.
- [Georeference Map](https://docs.multiset.ai/fundamentals/rest-api-docs/georeference.md): Tie a map's local coordinate frame to WGS 84 by submitting control points that pair map-local positions with known latitude, longitude and altitude.
- [Map Scale](https://docs.multiset.ai/fundamentals/rest-api-docs/map-scale.md): Set or correct the real world scale of a map after processing by entering a known length in metres, for marker-less 360 captures.
- [Camera Intrinsics](https://docs.multiset.ai/fundamentals/rest-api-docs/camera-intrinsics.md): Estimate focal length, principal point and optional distortion from one to five images of a scene, for cameras with no factory calibration.
- [360° Virtual Tour (Pano)](https://docs.multiset.ai/fundamentals/rest-api-docs/pano-360-virtual-tour.md): Read APIs that serve a navigable 360 panoramic tour as a graph of nodes, including manifests, pagination and tours across map versions and MapSets.
- [Object Tracking Query](https://docs.multiset.ai/fundamentals/rest-api-docs/object-query.md): Send one frame to get a 6-DoF pose for a tracked object, with up to 10 object codes per query, and list the objects on your account.
- [Map Version](https://docs.multiset.ai/fundamentals/rest-api-docs/map-version.md): Create, inspect, and manage Map Versions over the REST API.
- [Simulation Data](https://docs.multiset.ai/fundamentals/rest-api-docs/simulation-data.md): Manage simulation data used to test localization.
- [Analytics](https://docs.multiset.ai/fundamentals/rest-api-docs/analytics.md): Read localization query logs and spatial heatmaps over the REST API.
- [Webhooks](https://docs.multiset.ai/fundamentals/rest-api-docs/webhooks.md): Register and manage the endpoint MultiSet delivers lifecycle events to, send test events, rotate the signing secret, and read the delivery log.
- [Third Party Scans](https://docs.multiset.ai/fundamentals/third-party-scans.md): Every input MultiSet accepts for building a map, covering structured E57 point clouds, Gaussian Splats and 360 video, with the requirements for each.
- [Matterport E57](https://docs.multiset.ai/fundamentals/third-party-scans/matterport-e57.md): Support for Matterport scans
- [MatterPak Files](https://docs.multiset.ai/fundamentals/third-party-scans/matterport-e57/matterpak-files.md): Connect your Matterport account with a developer token and process MatterPak bundles in the cloud, with no manual file upload.
- [Leica Scans](https://docs.multiset.ai/fundamentals/third-party-scans/leica-scans.md): Capture with Leica RTC360, BLK360 G2, BLK2GO or BLK2FLY and export a structured E57 with panoramas from Cyclone REGISTER 360 PLUS.
- [NavVis Scans](https://docs.multiset.ai/fundamentals/third-party-scans/navvis-scans.md): Capture with NavVis VLX or M6 and export an E57 with equirectangular panoramas from NavVis IVION.
- [Xgrids Scans](https://docs.multiset.ai/fundamentals/third-party-scans/xgrids-scans.md): Convert Xgrids SLAM scan data into an E57 with panorama poses using Lixel Studio, then upload it to the portal.
- [Faro Scans](https://docs.multiset.ai/fundamentals/third-party-scans/faro-scans.md): Capture, register and export Faro scans for MultiSet, including the altimeter setting and the Color Panorama Image option in Faro SCENE.
- [360 Videos](https://docs.multiset.ai/fundamentals/third-party-scans/360-videos.md): Build a VPS map from 360° video: raw .insv from an Insta360 camera or the Antigravity A1 drone, or a stitched equirectangular .mp4 from any other camera.
- [Insta360 Scans](https://docs.multiset.ai/fundamentals/third-party-scans/360-videos/insta360-scans.md): Capture 360° video with an Insta360 camera and turn it into a MultiSet VPS map.
- [Antigravity A1 (Drone)](https://docs.multiset.ai/fundamentals/third-party-scans/360-videos/antigravity-a1-drone.md): Capture a site from the air with the Antigravity A1 360 drone and build a MultiSet VPS map from the raw .insv.
- [Equirectangular MP4](https://docs.multiset.ai/fundamentals/third-party-scans/360-videos/equirectangular-mp4.md): Upload an already-stitched equirectangular 360 video, from any camera, as input for a MultiSet VPS map.
- [Gaussian Splat](https://docs.multiset.ai/fundamentals/third-party-scans/gaussian-splat.md): Use Gaussian Splat reconstructions as input for Multiset VPS.
- [Xgrids Gaussian Splat Export](https://docs.multiset.ai/fundamentals/third-party-scans/gaussian-splat/xgrids-gaussian-splat.md): Export a Gaussian Splat from Xgrids Lixel CyberColor for use with Multiset VPS.
- [Splats from Other Tools](https://docs.multiset.ai/fundamentals/third-party-scans/gaussian-splat/splats-from-other-tools.md): Upload a Gaussian Splat trained outside Xgrids: declare its right-handed Y up frame through the REST API, or convert it to Z up yourself, and add a poses.json when you can.
- [Georeferencing Maps](https://docs.multiset.ai/fundamentals/georeferencing-maps.md): Give a map real world WGS 84 coordinates so device GPS can be used as a prior for faster, more reliable localization.
- [Auto Geo-reference a Map](https://docs.multiset.ai/fundamentals/georeferencing-maps/auto-georeference-map.md): Geo-reference an outdoor map directly from the MultiSet App by localizing at well-spread points and submitting them for an automatic solve.
- [How to Manually Align Scans](https://docs.multiset.ai/fundamentals/georeferencing-maps/how-to-align-scans.md): Correct a map's heading and placement on satellite view in the portal, since latitude, longitude and altitude are captured automatically but heading is not.
- [Outdoor-Indoor Transitions with Multiset](https://docs.multiset.ai/fundamentals/georeferencing-maps/outdoor-indoor-transitions-with-multiset.md): Hand off from GPS outdoors to VPS indoors in a single WGS 84 coordinate system, so AR content stays continuous across the doorway.
- [Support](https://docs.multiset.ai/fundamentals/support.md): Raise a support ticket, join the Discord community, or reach the team by email.


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