Mobile Map Upload

Upload a mobile capture from a LiDAR or non-LiDAR phone or tablet (RGB frames and poses, plus depth images and a mesh when LiDAR is available) as a MultiSet VPS map via the REST API.

A mobile map is a capture recorded on a phone or tablet with your own AR app. Package the capture as a single .zip in the format below, then upload it in three calls: create the map, upload the zip, and complete the upload.

Any ARKit iPhone or iPad and any ARCore Android device can capture a map. What goes in the .zip depends on whether the device has a LiDAR sensor:

Capture type	Devices	Contents	fileType
LiDAR	iPhone Pro and iPad Pro with LiDAR	RGB frames, poses, depth images and a mesh	zip
Non-LiDAR (Posed RGB)	Every other ARKit or ARCore device	RGB frames and poses only	PosedRGB

If the device has LiDAR, upload a LiDAR capture: the depth images and mesh make the map more accurate.

What to upload

LiDAR capture

A single .zip with this layout:

MappingData.zip
├── CameraIntrinsics.json
├── RGB/
│   ├── Rgb_20260929101512034.jpg
│   └── …
├── Pose/
│   ├── CameraPose_20260929101512034.json
│   └── …
├── Depth/
│   ├── Depth_20260929101512034.exr
│   └── …
└── Mesh/
    └── Mesh.glb

Item	Required	Format
RGB/	Yes	Camera frames as .jpg.
Pose/	Yes	One .json per RGB frame, in Unity left-handed (LHS) coordinates.
Mesh/Mesh.glb	Yes	Mesh of the captured space as a binary glTF, in the same coordinate frame as the poses.
CameraIntrinsics.json	Yes	Camera intrinsics of the RGB frames.
Depth/	Yes	One depth image per RGB frame as a 16-bit or 32-bit float .exr.

Keep the folders and CameraIntrinsics.json at the root of the archive.

Non-LiDAR capture (Posed RGB)

On a device without LiDAR, upload the RGB frames, their poses and the camera intrinsics only, with this layout:

MappingData.zip
├── CameraIntrinsics.json
├── RGB/
│   ├── Rgb_20260929101512034.jpg
│   └── …
├── Pose/
│   ├── CameraPose_20260929101512034.json
│   └── …

Item	Required	Format
RGB/	Yes	Camera frames as .jpg.
Pose/	Yes	One .json per RGB frame, in Unity left-handed (LHS) coordinates.
CameraIntrinsics.json	Yes	Camera intrinsics of the RGB frames.

Leave out Depth/ and Mesh/, and set fileType to PosedRGB when you create the map (see source object). The RGB frames, poses and intrinsics use the same formats as a LiDAR capture.

File naming

Each RGB frame, its pose and (on a LiDAR capture) its depth image share the same ID:

• RGB/Rgb_<id>.jpg

• Pose/CameraPose_<id>.json

• Depth/Depth_<id>.exr

The <id> must not contain an underscore. A UTC timestamp such as 20260929101512034 (yyyyMMddHHmmssfff) works well. Every RGB frame needs a pose file, and on a LiDAR capture a depth image too.

The RGB frame, depth image and pose that share an ID must come from the exact same camera frame, with the same timestamp. Take all three from one AR frame, and skip any frame where the depth image's timestamp does not match the RGB frame's. Even a small time offset between them misaligns the images and the poses, which causes drift in the map.

Capture guidelines

• Capture rate: save frames at around 5 FPS (one RGB frame, pose and, on LiDAR, depth image every 0.2 seconds) while the user is mapping.

• Overlap: each RGB frame should overlap with 2 to 3 neighbouring frames, so every part of the space is seen in several images.

Pose

Poses must be in Unity's left-handed coordinate system: +X right, +Y up, +Z forward, in metres. Use the camera's world pose exactly as Unity reports it (Camera.transform.position and Camera.transform.rotation), without converting it to a right-handed frame.

{
    "Position": { "x": 0.412, "y": 1.358, "z": -2.076 },
    "Rotation": { "x": 0.0121, "y": 0.9743, "z": -0.0452, "w": 0.2199 },
    "cameraParams": { "fx": 717.4, "fy": 717.4, "px": 478.9, "py": 362.1 }
}

Field	Format
Position	Camera position in world space, in metres.
Rotation	Camera rotation in world space as a unit quaternion {x, y, z, w}.
cameraParams	Focal length (fx, fy) and principal point (px, py) of this frame, in pixels.

All poses, and the mesh on a LiDAR capture, must share the same world origin.

Camera intrinsics

{
    "camera_intrinsics": { "fx": 717.4, "fy": 717.4, "px": 478.9, "py": 362.1 },
    "resolution": { "width": 960, "height": 720 }
}

The intrinsics and resolution must match the RGB images as saved. If you resize the images, scale fx, fy, px and py by the same factor.

Depth

LiDAR captures only.

• Single-channel OpenEXR (.exr), 16-bit (half) or 32-bit float, depth in metres.

• Same timestamp and orientation as its RGB frame (see File naming).

• It can be lower resolution than the RGB frame, with the same aspect ratio.

source object

LiDAR capture:

"source": {
  "provider": "mobile",
  "fileType": "zip",
  "coordinateSystem": "LHS"
}

Non-LiDAR capture:

"source": {
  "provider": "mobile",
  "fileType": "PosedRGB",
  "coordinateSystem": "LHS"
}

Field	Value
provider	"mobile"
fileType	"zip" for a LiDAR capture, "PosedRGB" for a non-LiDAR capture. The value is case-sensitive.
coordinateSystem	"LHS"

Step 1: create the map

curl --location 'https://api.multiset.ai/v2/vps/map' \
--header 'Content-Type: application/json' \
--header 'Authorization: Bearer <YOUR_ACCESS_TOKEN>' \
--data '{
    "mapName": "Office Ground Floor",
    "fileSize": 412337152,
    "coordinates": {
        "latitude": 12.9130,
        "longitude": 77.6392,
        "altitude": 920.0
    },
    "source": {
        "provider": "mobile",
        "fileType": "zip",
        "coordinateSystem": "LHS"
    }
}'

This example is a LiDAR capture. For a non-LiDAR capture, set "fileType": "PosedRGB". fileSize is the size of the .zip in bytes. The response contains the mapCode and an upload URL:

{
  "message": "Map created successfully",
  "mapCode": "MAP_QQYKIBHXZE01",
  "uploadUrls": {
    "signedUrls": [
      { "partNumber": 1, "signedUrl": "https://…" }
    ]
  }
}

Step 2: upload the zip

PUT the whole .zip to the signedUrl. The URL is valid for 1 hour.

curl --request PUT '<SIGNED_URL>' \
--header 'Content-Type: application/zip' \
--upload-file MappingData.zip

Step 3: complete the upload

Use the mapCode from Step 1.

curl --location --request POST 'https://api.multiset.ai/v2/vps/map/complete-upload/<MAP_CODE>' \
--header 'Content-Type: application/json' \
--header 'Authorization: Bearer <YOUR_ACCESS_TOKEN>' \
--data '{}'

The map then starts processing, and becomes available for VPS queries once its status is active. See the Map Upload overview for the full OpenAPI specs.