> For the complete documentation index, see [llms.txt](https://knowledge.flyability.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://knowledge.flyability.com/software/inspector-online/inspector-online-feature-details/high-accuracy-mapping.md).

# High Accuracy Mapping

How to process flights collected with the Elios 3 using Flyability's High Accuracy Mapping feature.

The High-Accuracy mapping feature runs in Inspector Online, generating an optimized point cloud and trajectory from uploaded Elios 3 flight data. The processed results align automatically with the FlyAware point cloud, and can be visualized alongside all the uploaded data. This manual covers the full workflow: uploading and syncing flight data, processing, viewing, and exporting the optimized results.

#### Prerequisites

The following are required for High-Accuracy Mapping SLAM processing.

<table data-header-hidden data-search="false"><thead><tr><th width="287">Item</th><th>Description</th></tr></thead><tbody><tr><td>3D Survey Add-on Subscription**</td><td>Allows access to Unlimited processing within a fair-use threshold of 2,000 minutes per drone per year</td></tr><tr><td>Premium Software Subscription*</td><td>An active Premium Software Subscription is required*</td></tr><tr><td>Inspector Online</td><td>An active Inspector online account.***</td></tr><tr><td>Firmware version</td><td>Flight data collected from Cockpit and Elios 3 firmware versions from 2024.02</td></tr><tr><td>LiDAR payload</td><td>The Elios 3 must have a LiDAR payload equipped.</td></tr><tr><td>Inspector Desktop</td><td>Inspector Desktop must be installed and connected to the Inspector Online organization. From version 26.03.</td></tr><tr><td>Mapping flight</td><td>Flights should be conducted using better mapping flight practices.</td></tr></tbody></table>

\*  Trial processing of 5 flights does not require Premium Software Subscription.&#x20;

\*\* Drones with valid FARO connect licenses at release of High-Accuracy Mapping will have access for the remainder of their FARO subscription.

\*\*\* The Inspector Online Organization Administrator or Manager needs to activate/toggle this feature in the Settings > Organization settings to be accessible.

<figure><img src="https://3798671238-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FEUlQdNranSJ0ddu4qSxa%2Fuploads%2FZtVTJ77sWLLpkhq2dFE6%2FEnable_HAM_Inspector_online.png?alt=media&amp;token=98ffcafd-2acc-4947-a97a-7b7d26fdb1f7" alt=""><figcaption></figcaption></figure>

#### High Accuracy Mapping User manual

{% file src="/files/3KYEUpKlq8Hv5BeXL3Kw" %}

### Upload/Sync flights to Inspector online

The process starts in Inspector Desktop where the flights have been imported from the Elios 3.

For more information: [Inspector 5 User Manual](/software/inspector/inspector-5.md#documentation)

<figure><img src="https://3798671238-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FEUlQdNranSJ0ddu4qSxa%2Fuploads%2FQuaCfzefT8koQvMnIpW6%2FSync_project_Inspector_desktop.png?alt=media&amp;token=0662affb-068c-458b-97c9-4db55938eaae" alt=""><figcaption></figcaption></figure>

Upload the flight data from Inspector Desktop to Inspector Online for High-Accuracy mapping:

**(1)** Open Inspector 5 Desktop and navigate to the flight/s to upload and sync.

**(2)** The correct Organization associated with the Inspector Online account needs to be selected. If the project is in the local organization(My Organization) It should be moved to the Inspector Online Organization for upload.

**(3)** Click the 3dot dropdown menu.

**(4)** Select Upload to Inspector Online. Selecting the Sync with Inspector Online checkbox activates syncing of project data between platforms.

### Process flight data in Inspector Online

With a project uploaded to Inspector Online, flights can be processed with the High-Accuracy mapping feature.

<figure><img src="https://3798671238-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FEUlQdNranSJ0ddu4qSxa%2Fuploads%2F9qGrBmKBjaLkrv26aXHS%2FProcessing_high_accuracy_mapping.png?alt=media&amp;token=90295251-069e-4c5f-bf2f-236f6b6d090d" alt=""><figcaption></figcaption></figure>

**(1)** Navigate to the project in Inspector Online.

{% hint style="info" %}
Use the **Open in Inspector** option when clicking the 3dot menu of the uploaded project from Inspector Desktop.
{% endhint %}

**(2)** Click the Flight icon in the right hand sidebar menu.

**(3)** Click the **Process** button corresponding to the flight. Select the **High-Accuracy mapping** option from the drop down menu.

**(4)** Select processing options relevant to the project:

<table data-search="false"><thead><tr><th width="173">Setting</th><th width="103">Options</th><th>When to use</th></tr></thead><tbody><tr><td rowspan="3">Capture environment</td><td>Standard</td><td>Geometric environments — buildings, stockpiles, general industrial assets.</td></tr><tr><td>Tunnel</td><td>Symmetrical environments — sewers, mines, tunnels.</td></tr><tr><td>Outdoor</td><td>Outdoor flights using the full LiDAR range.</td></tr><tr><td>Slam Strength</td><td>Standard / Strong / Max</td><td>Start at Standard. Increase if the result doesn't converge or shows drift. Higher strength improves convergence but requires feature to be effective.</td></tr><tr><td>Open loop flight path</td><td>On / Off</td><td>Enable when the drone landed in a different location than takeoff.</td></tr><tr><td>Noise reduction filter</td><td>On / Off</td><td>Enable for a cleaner point cloud; processing may take longer.</td></tr><tr><td>Remember settings</td><td>On / Off</td><td>Reuses the configuration for future flights.</td></tr></tbody></table>

**(5)** Click the **Process** button to start processing.

{% hint style="info" %}
Processing runs in the backend of Inspector Online. It is possible to continue working on other projects, and set additional flights for processing.
{% endhint %}

**(6)** Open Background tasks to follow progress. High Accuracy Mapping tasks are displayed with their start time and progress.

#### View

Visualize the results in the online viewer or sync and view from Inspector Desktop. View the Flyaware output along with the High-Accuracy results.

<figure><img src="https://3798671238-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FEUlQdNranSJ0ddu4qSxa%2Fuploads%2F8R8GeRxjDYIOesAhAAd1%2FHigh_accuracy_mapping_Inspector_online_viewer.png?alt=media&amp;token=35613c82-c2e1-42db-9442-bcde2563d36d" alt=""><figcaption></figcaption></figure>

**(1)** The High-Accuracy mapping results can be accessed from the flight list. Click the flight icon, or click the button form the finished process alert.

**(2)** View / toggle all available High-accuracy processed data together. All standard 3D viewer options apply.

{% hint style="info" %}
When individual flights are relocalized during capture, the High Accuracy SLAM data inherits the relocalized orientation. When exporting the data to another software, all flights will remain aligned according to the relocalization performed at data capture.
{% endhint %}

**(3)** View / toggle all processed data individually. All standard 3D viewer options apply.

**(3a)** Click the 3Dot dropdown menu to access:

* Settings used.
* Delete map.
* Sync the project in Inspector Desktop.
* Click the download icon (3b) to download the selected aspect.

#### Export

Export formats: LAS for the optimized point cloud and CSV for the associated trajectory file.

There are two ways to export the processed data locally:

* Sync the project in Inspector Desktop.
* Click the download icon (3b) to download the selected aspect.

{% hint style="warning" %}
If the sync back to Inspector Desktop fails initially. From the project in Inspector Desktop, toggle the Sync with Inspector Online checkbox to reinitiate the sync process.
{% endhint %}

### Resources

#### General flight practice

Scans should be conducted using mapping flight better practices:

1. Define the flight plan in advance.
2. Physically identify the take off point and takeoff and land facing the same direction.
3. Use the 15 second drone calibration.&#x20;
4. The drone must remain still to include movement around it during this calibration.
5. When using reflective targets, ensure they are clean, visible, and placed asymmetrically.
6. Take off and gain altitude of 1 - 2 meters / 3 - 6 ft.
7. Conduct a figure 8 pattern (use the yaw of the drone) within the take off area.
8. Conduct the mapping flight in ASSIST flight mode at a smooth and consistent pace avoiding bumps/collisions as much as possible.
9. At each tunnel junction or new room do a slow 360° turn or fig 8 pattern.
10. Enter/pass manholes and small openings sideways allowing LiDAR beams to enter first.
11. Fly within 1-30 meters / 3 - 10 ft of walls and objects.
12. Do not stop in place for too long.
13. Land on the same point facing the same direction.
14. Do not use the Return to Home (RTH) feature.

\* The smaller the tunnel or space is, and fewer features available, the slower the turns should be for the success of the SLAM.

#### Training / Learning

Training deck to address best flight practices for SLAM processing:

{% file src="/files/94VE040DItUWl13DXagP" %}

Training deck specifically for culvert / sewer / wastewater mapping:

{% file src="/files/mF95WTndjReyVvxj7qDs" %}

#### White papers / Research

{% file src="/files/zBnpQS6mGNOa18UUlKQU" %}

<br>


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