Q: What is INS-based VSLAM initialisation?
A: INS-based VSLAM initialisation lets the VSLAM system use data from an INS (Inertial Navigation System) to initialise its starting position within a known geodesy. It is designed to work with any INS vendor, provided the data format is compatible with the Voyis API.
What problem does it solve? Without INS aiding, the real-time track and point cloud start from a local origin (0,0,0) with no real-world reference. INS-based initialisation gives the track a georeferenced starting position and orientation, making it easier to place the data in real-world coordinates and combine it with other survey data.
When and how to enable it: Connect an INS to the Voyis Discovery camera and configure it under Sensor Settings in Discovery Powered by NaviSuite before starting NaviSuite VSLAM. Select the matching navigation format, enter the INS connection details, set the INS-to-camera offsets, and connect. Once the INS is aligned and streaming valid data, start NaviSuite VSLAM to initialise from the INS position.
Note: Full INS setup steps (Sensor Settings, navigation formats and offsets) are described in the Voyis VSLAM Powered by EIVA NaviSuite Quick start guide.