Table of Contents

Collect changed areas for incremental updates

This chapter introduces how to use a panoramic camera to collect change data for incremental mapping in order to update local areas with scene changes.

Note

Currently, Mega incremental update data collection only supports the GoPro Max camera and does not support data collection with GoPro Max 2 or other brands of panoramic cameras.

Preparation work

Supplemental update data acquisition path planning

Similar to the route planning required before Mega panoramic data mapping acquisition, pre-path planning is also necessary before collecting supplemental update data.

The overall guideline for supplemental update path planning is: cover the update area while collecting enough unchanged existing map areas. Generally, the supplemental update collection path should have at least 20 meters of trajectory that simultaneously meets:

  • Overlaps with the existing map collection path.
  • The environment during the supplemental update is basically consistent with that during the existing map collection.

The following are several typical supplemental update use cases and corresponding path planning methods.

  • Partial areas on the original collection trajectory need updating

    The dotted line in the figure below represents the original collection trajectory, where the C area needs updating, and other areas remain unchanged. During collection, the previous route can be maintained, except for collecting in the C area that needs updating, while the adjacent B and D areas are also collected, as shown by the green solid line in the figure.

    mapupdateroutine

  • Areas adjacent to but outside the original collection trajectory need updating

    The dotted line in the figure below represents the original collection trajectory, where the E and F areas need updating, and other areas remain unchanged. During supplemental collection, the previous route can be maintained, except for collecting in the E and F areas that need updating, while the adjacent C and D areas are also collected, as shown by the green solid line in the figure. The starting and ending segments of the collection should be in the unchanged C and D areas.

    mapupdateroutine2

  • Areas not adjacent to the original collection trajectory need updating

    The dotted line in the figure below represents the original collection trajectory, where the E and F areas need updating, and other areas remain unchanged. During supplemental collection, the previous route can be maintained, except for collecting in the E and F areas that need updating, while the adjacent C and D areas are also collected, as shown by the green solid line in the figure. The starting and ending segments of the collection should be in the unchanged C and D areas.

    mapupdateroutine3

Note

A single supplemental update collection is limited to no more than 16 minutes of collection. Do not exceed this limit when planning the path.

Start acquisition

  • Refer to the GoPro Max Setup Checklist to ensure the settings meet requirements.

  • Verify acquisition conditions

    • Avoid collecting when there are many people around.

    • Avoid collecting during intense lighting (e.g., around noon on a sunny day).

    • Avoid collecting on rainy, snowy, or foggy days.

  • Power on and prepare

    • Check the GoPro Max camera after powering it on.

    • Securely mount the camera on a selfie stick, with the screen side facing you.

    • Ensure there are nearby objects such as buildings or statues within 3 meters of the starting point. Avoid starting collection in the middle of a large square.

    • If the acquisition route includes outdoor areas, first power on the camera in an open outdoor space and wait 2 minutes in standby mode before moving to the starting point to begin acquisition.

  • Begin acquisition

    • Hold the panoramic camera about 20 cm above your head—not too high or too low—and keep the selfie stick vertical.

    • Press the recording button or use the GoPro Quik app to start recording.

    • At the starting point, pan horizontally for more than 2 meters while facing a textured surface like a building or wall.

During the collection process

  • Hold the selfie stick firmly throughout the collection process and try to keep the camera stable.

  • Walking speed should not exceed 1m/s, avoid rapid movement, and running, cycling, or vehicle-mounted collection is prohibited.

  • When encountering turns or U-turns, reduce turning speed to avoid rapid rotation.

  • Be mindful of obstacles and avoid them. Indoors, pay attention to ceiling height to prevent bumping or wiping the camera.

  • Monitor the collection duration and replenish updates. A single collection session must not exceed 16 minutes.

End the capture

  • After completing the capture, stop recording by pressing the shutter button or via the GoPro Quik app, and wait for storage complete.

  • Verify that the video duration saved by the camera matches the actual capture duration.

Avoid invalid captured data

Irregular capture may lead to invalid capture, which means captured data is unusable. Common causes include the following. Please try to avoid them, and if encountered, recapture the data.

  • ❌ Forgetting to remove the lens cover, including transparent protective covers.

  • ❌ Abnormally stopping the capture, such as the camera running out of battery, the memory card running out of storage space, or the camera overheating and shutting down automatically.

  • ❌ The camera being bumped during capture, such as hitting door frames or beams.

  • ❌ The camera falling or slipping off the selfie stick during capture.

  • ❌ Removing the camera during capture to wipe the lens.

  • ❌ Non-standard capture methods such as capturing while cycling, holding an umbrella, or on a boat.

  • ❌ The selfie stick not being kept vertical during capture, leaning against the body.

Next steps

After completing the supplementary update of panoramic data collection,