Table of Contents

Capturing changed areas for incremental update

This chapter introduces how to use a panoramic camera to capture change data for incremental mapping, enabling updates to localized areas where the scene has changed.

Note

Currently, Mega incremental update data capture only supports the GoPro Max camera. GoPro Max 2 or other brands of panoramic cameras are not yet supported.

Preparations

Incremental update data capture route planning

Similar to route planning required before Mega panoramic data mapping capture, pre-planning the route is also essential before capturing incremental update data.

The overall principle for incremental update route planning is: Cover the update area while capturing sufficient unchanged areas from the existing map. Generally, the incremental update capture route should have at least 20 meters of trajectory that simultaneously satisfies:

  • Overlap with the existing map's capture path.
  • The environment during the incremental update is essentially consistent with that during the original map capture.

Below are several typical incremental update use cases and their corresponding route planning methods.

  • Updating parts along the original capture trajectory

    The dotted line in the figure below represents the original capture trajectory, where area C needs updating, and other areas remain unchanged. During capture, you can follow the previous route, capturing not only the update area C but also the adjacent areas B and D, as shown by the solid green line.

    mapupdateroutine

  • Updating adjacent areas outside the original trajectory

    The dotted line represents the original capture trajectory. Areas E and F need updating, while other areas remain unchanged. During supplemental capture, follow the original route, capturing the update areas E and F as well as the adjacent unchanged areas C and D, as shown by the solid green line. Start and end the capture in unchanged areas C and D.

    mapupdateroutine2

  • Updating non-adjacent areas outside the original trajectory

    The dotted line represents the original capture trajectory. Areas E and F need updating, while other areas remain unchanged. During supplemental capture, follow the original route, capturing the update areas E and F as well as the adjacent unchanged areas C and D, as shown by the solid green line. Start and end the capture in unchanged areas C and D.

    mapupdateroutine3

Note

A single incremental update capture session must not exceed 16 minutes. Ensure your planned route stays within this limit.

Starting capture

  • Verify settings against the GoPro Max Setup Checklist.

  • Confirm capture conditions

    • Avoid capturing when the surroundings are very crowded.
    • Avoid capturing during periods of intense lighting (e.g., around noon on a sunny day).
    • Avoid capturing on rainy, snowy, or foggy days.

  • Power on and prepare

    • Power on the GoPro Max camera and perform checks.
    • Securely mount the camera onto a selfie stick, with the screen side facing you.
    • Ensure there are near-field objects like buildings or statues within 3 meters of the starting point. Avoid starting in the middle of a large open square.
    • If the route includes outdoor areas, power on the camera in an open outdoor space first, let it idle for over 2 minutes, then proceed to the starting point to begin capture.

  • Begin capture

    • Hold the panoramic camera approximately 20 cm above your head—not too high or too low. Keep the selfie stick vertical.
    • Press the record button or use the GoPro Quik app to start recording.
    • At the starting point, move sideways (pan) for more than 2 meters while facing a nearby texture-rich building, wall, or similar feature.

During capture

  • Hold the selfie stick firmly throughout the capture, keeping the camera as stable as possible.
  • Walk at a speed not exceeding 1 meter/second. Avoid rapid movements. Do not run, cycle, or capture from a moving vehicle.
  • When turning or changing direction, reduce turning speed to avoid rapid rotation.
  • Watch out for obstacles and avoid them. Indoors, be mindful of ceiling height to prevent bumping or scraping the camera.
  • Monitor the capture duration. A single incremental update capture must not exceed 16 minutes.

Ending capture

  • After capture, stop recording by pressing the record button or via the GoPro Quik app. Wait for storage to complete.
  • Check that the saved video duration matches the actual capture time.

Avoiding invalid capture data

Improper capture can lead to invalid data, meaning the captured data is unusable. Common causes include the following. Please avoid them, and if encountered, re-capture the data.

  • ❌ Forgetting to remove the lens protector, including transparent covers.
  • ❌ Abnormal stopping of recording, e.g., due to depleted battery, full storage card, or overheating shutdown.
  • ❌ Camera bumping during capture, e.g., hitting door frames or beams.
  • ❌ Camera falling or slipping off the selfie stick during capture.
  • ❌ Removing the camera during capture to wipe the lenses.
  • ❌ Non-standard capture methods like cycling, holding an umbrella, or capturing from a boat.
  • ❌ Not keeping the selfie stick vertical during capture, e.g., leaning it against the body.

Next steps

After completing the panoramic data capture for incremental update: