Third Party Scans

The Multiset developer portal supports third-party capture platforms, including Matterport, NavVis, Leica, Faro, Xgrids, Insta360 and Antigravity, plus stitched 360 video from any other camera, to streamline the creation of high-accuracy Visual Positioning Systems (VPS). Developers can use these industry-leading tools to generate the data required for precise localization and AR experiences.

Supported Input Formats

Multiset accepts four kinds of input for building a map:

Input type	What you upload	Notes
Point cloud	Structured .e57 with embedded panoramas, compressed to .zip	The most common path. Panoramic images must be included in the export.
Gaussian Splat	.ply and poses.json in a single .zip	Must be metric-scaled. See Gaussian Splat.
360 video (raw)	Raw .insv, one file per .zip	Hand-held Insta360, or the Antigravity A1 drone. No LiDAR hardware required. See Insta360 Scans and Antigravity A1.
360 video (stitched)	Equirectangular .mp4, one file per .zip	Any other 360 camera, ground based or flown. Monoscopic, exactly 2:1. See Equirectangular MP4.

What each of these produces once processing finishes (panoramas, mesh, Gaussian Splat) is listed in Output Asset.

Supported Vendors and File Types

Vendor	Supported devices	File type	Upload package	Guide
Matterport	Pro2, Pro3	Structured .e57 with panoramas	.e57 inside a .zip	Matterport E57
Matterport (MatterPak)	Pro2, Pro3	MatterPak bundle	Fetched from your Matterport account, no manual upload	MatterPak Files
Leica	RTC360, BLK360 G2, BLK2GO, BLK2FLY	Structured .e57 with panoramas	.e57 inside a .zip	Leica Scans
NavVis	VLX, M6	.e57 with equirectangular panoramas	.e57 inside a .zip	NavVis Scans
Faro	Focus series, Orbis, Flash/Hybrid	.e57 with Color Panorama Image enabled	.e57 inside a .zip	Faro Scans
Xgrids	L2 Pro, K1	.e57 converted from LAS using poses.csv	.e57 inside a .zip	Xgrids Scans
Xgrids (Gaussian Splat)	PortalCam, L2 Pro, K1, K2	.ply and poses.json	Both files in a single .zip	Xgrids Gaussian Splat Export
Insta360	X4, X5	Raw .insv 360 video (dual-fisheye)	Exactly one .insv per .zip	Insta360 Scans
Antigravity	A1 (360° camera drone)	Raw .insv 360 video (dual-fisheye)	Exactly one .insv per .zip	Antigravity A1 (Drone)
Any other 360 camera	Ground based or drone mounted	Stitched equirectangular .mp4 (2:1, monoscopic)	Exactly one .mp4 per .zip	Equirectangular MP4

Using a scanner that is not listed? Structured .e57 files from other scanners will also work, as long as the data is laid out the same way as the exports above, meaning the point cloud and its panoramic images with pose information are embedded in the file. Simply pick the closest matching provider in the upload dropdown and the Multiset backend will detect the structure and process it. The provider selection does not have to match your hardware exactly, since the panorama format is detected automatically.

Panoramas can be cubic or equirectangular, based on the vendor. The system detects the pano format.

Input Requirements

Point cloud (.e57)

• Panoramas: Panoramic images must be included in the export. These are essential for capturing comprehensive environmental data.

• Scan Density: The density of both the scans and the accompanying images should be high. Increased density ensures better visual mapping and localization accuracy.

• Panorama Spacing: Keep the distance between panoramas (scan positions or capture trigger interval) between 1 and 3 meters, depending on the device: 1 to 2 m for Faro and Xgrids (1 m indoors, 2 m outdoors), 1.5 to 2.5 m for Matterport, 2 to 3 m for Leica tripod scanners, and up to 3 m for NavVis in open spaces. See each scanner page for details.

Gaussian Splat

• Metric scale is required. Arbitrary-scale reconstructions cannot be used for VPS.

• poses.json is required, the splat cannot be localized against without the camera poses used to train it.

• Both files must sit at the root of the .zip, with no nested folders.

360 video

• Record in the camera's 360 video mode: 5.7K at 60 fps for indoor and low light, 8K at 30 fps for outdoor and natural light. Flat or single-lens footage is not supported.

• Move at a steady pace and close the loop by returning to your starting point: 1.0 to 1.5 m/s walking with the camera at head height, 1 to 3 m/s in the air.

• Metric scale comes from either a printed ChArUco calibration marker in the scene, or the Map Scale tool after processing. Drone and stitched-video captures use the second route, since a printed board cannot be resolved from the air.

• From an Insta360 camera or the Antigravity A1, upload the raw .insv. No stitching required, Multiset stitches to equirectangular server-side.

• From any other 360 camera, upload a stitched equirectangular .mp4: monoscopic, exactly 2:1, 3840 × 1920 or higher, H.264 or H.265.

• Keep each .zip under 50 GB, with exactly one video file inside. One video produces one map.

360 video support: Multiset accepts 360 video as input for VPS, so you can build a map without LiDAR or SLAM hardware. Raw .insv covers hand-held Insta360 (X4, X5) and the Antigravity A1 drone. Every other 360 camera, on the ground or in the air, exports a stitched Equirectangular MP4 and uploads that. All three routes are documented under 360 Videos: Insta360 Scans for camera settings and walking patterns, and Antigravity A1 for flight patterns.

Gaussian Splat support: Multiset accepts Gaussian Splats as input for VPS. The first supported pipeline is Xgrids, where all Xgrids scanners (PortalCam, L2 Pro, K1/K2) can export Gaussian Splats in .ply format via Lixel CyberColor. See Gaussian Splat for details.

Benefits of High-Density Scans:

• Enhanced environmental detail for improved VPS accuracy.

• Better alignment and anchoring of AR experiences in real-world environments.

• Seamless integration with Multiset’s tools for large-scale AR deployments.

By leveraging the capabilities of Matterport, NavVis, Leica, Faro, Xgrids and Insta360, developers can create precise and persistent AR experiences.