# Mapping Mode

The RobotDog is capable of performing SLAM (Simultaneous Location and Mapping) with its in-built 3D-scanner. This allows the RobotDog to perceive its surroundings and build a map for itself, you can then use this as a known map in which you can set waypoints for the dog to move to.

To activate Mapping mode:

1. Click "**Function**" in the Home Interface, scroll and select **"3D LiDar Mapping"**.
2. Create a new mapping project by clicking the "**+**" sign.

***

## Mapping The Environment

<figure><img src="/files/zWaSd3Vycwj4Ul54dcXp" alt=""><figcaption><p>Mapping Mode</p></figcaption></figure>

Once activated, the Robot Dog immediately starts to scan its surrounding and translates the mapped point clouds onto the controller. You can click the sync button on the top right of the screen to view the direction of mapping simultaneously.

<figure><img src="/files/sZgUAoS4M8sAZYb7ExR5" alt=""><figcaption><p>Moving the RobotDog in the same position</p></figcaption></figure>

Note that the 3D-scanner is installed on the head (front) of the Robot Dog, a good way to ensure a complete scan is to pivot the Robot Dog in the same position and maximise its scan.&#x20;

Move the Robot Dog around and try to capture as much as possible to build a map.

{% hint style="warning" %}
Try not to perform the mapping for more than 5 minutes to optimise the mapping capacity
{% endhint %}

<figure><img src="/files/5V1PZ8zhBJxvN7EfRdy4" alt=""><figcaption><p>Mapping completion</p></figcaption></figure>

***

## Navigation Mode

Save the new map with your desired file name. You can now use the map to navigate the Robot Dog. This would be useful to move around the Robot Dog without the use of a live-synced camera.

<figure><img src="/files/PGRsHQRhoGD1NFOFXwjZ" alt=""><figcaption><p>Location Synchronisation</p></figcaption></figure>

To do so, long press on the **current** location of the Robot Dog within the map and drag along the direction of the Robot Dog's head is facing.&#x20;

* You might need to repeat this step for several times to successfully initialise its location.
* You may need to move the dog to a more geometrically feature-rich area before it can find itself. i.e. if the dog is looking at an empty floor + wall section, it could be looking at any of the same/similar section across your entire map.

{% embed url="<https://files.gitbook.com/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LXautSvCbUco5Lv7YrH%2Fuploads%2Fb7guFPPr7rCRZHLANGHg%2FWhatsApp%20Video%202025-01-07%20at%203.46.47%20PM.mp4?alt=media&token=a3a4e3e9-d72b-4fac-a30b-005906ba7c90>" %}


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