🔭 OpenSLAM

DIY Architectural & Surveying LiDAR SLAM Scanner

Compact open-source 3D scanner for architectural and surveying work built with Livox Mid-360 and NanoPi Zero 2.
Scan any space and get a full 3D point cloud ready for import into Share Studio.

📣 Questions & support → Telegram @a2blog

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📋 Table of Contents

• What is this?
• Components
• 3D Printed Parts
• Assembly
• Software & Setup
• How Scanning Works
• Roadmap

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💡 What is this?

A handheld SLAM scanner designed for architects, surveyors, and construction professionals — capture spatial datasets and convert them for use in Share Studio, where point clouds are generated and processed.

The scanner is open hardware: source the components, 3D-print the parts, and assemble it yourself. For software, you can either handle the dataset conversion workflow on your own or contact us for setup and support.

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📦 Components

Livox Mid-360 Main LiDAR sensor. Mid-360S also supported	NanoPi Zero 2 Must have Wi-Fi module and eMMC storage	Powerbank 2 outputs required: one 10W+, one with 12V or 20V PD output. Tested: HPS99 ✅ · HPS36 and Vectorgear should work (lighter, untested)
LiDAR cable + USB-C PD trigger Rigid 0.5m (durable) or flexible 0.2m (compact). USB-C PD trigger 12V or 20V — soldered to power end	Fasteners M3×8 × 4pcs — lidar to body M2.5×12 × 4pcs — NanoPi to body 1/4" flat nut × 1 — handle to body 1/4" bolt × 1 — stand to powerbank	3D Printed Parts head · lidar guard · battery stand See 3D Printed Parts section ↓

💬 Not sure which components to pick? Ask in our chat — t.me/a2blogchat

📐 Need a custom form factor with this same architecture? We can design it — write us

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🖨️ 3D Printed Parts

Part	File
Body	head.stl
LiDAR guard	guard.stl
Battery stand	stand.stl

Material: PLA or PETG · Layer height: 0.2mm · Supports: Body only

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🔧 Assembly

Only a screwdriver with bits for M3 and M2.5 screws needed. Assembly takes 10–15 minutes.

▶️ Watch assembly on YouTube Shorts

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💻 Software & Setup

The repository includes ready-to-use software in the /software folder:

File	Description
openslam.apk	Android app — start/stop scanner, monitor status
A2 Bin to ShareStudio.exe	Converts scan output to Share Studio format (v2.4.4, may update)

Option A — Contact us for setup (recommended)

We flash the board, configure everything, and the software above works out of the box.

→ Write us on Telegram @a2blog

Option B — DIY setup

If you want to configure everything yourself, here's what needs to be done on the NanoPi Zero 2:

1. Install ROS 2 Humble
2. Install Livox SDK
3. Install Livox ROS Driver 2
4. Write a script for automatic scan start/stop
5. Configure and broadcast a Wi-Fi access point on the board
6. Develop a smartphone app to control start/stop over Wi-Fi
7. Develop a converter to transform scan output into a Share Studio-compatible format

This is a non-trivial setup. If you're not sure — just ask us, it's faster.

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📡 How Scanning Works

▶️ Full process — from power-on to point cloud (YouTube Shorts)

The section below applies to the our setup version (APK + converter). If you configured everything yourself — you have your own pipeline.

Starting a scan

1. Connect the powerbank — scanning starts automatically
2. Wait 5 seconds with the scanner still and flat before picking it up
3. Slowly lift it and start walking through the space
4. To stop: use the app or simply disconnect the power

Connecting the app

1. Disable VPN and mobile data on your phone
2. Connect to Wi-Fi network A2-scanner, password 12345678
3. Open the app — once the LiDAR is powered on you'll see the filename, file size growing in real time, and recording duration
4. The app also shows scanning recommendations during capture

▶️ App interface and scanning tips (YouTube Shorts)

Getting your data

1. Insert a USB drive into the NanoPi's USB port
2. Copy the scan file via the app
3. Run converter_v2.4.4.exe on PC to convert the file
4. Import into Share Studio and build the point cloud

Accuracy vs total station

▶️ SLAM scanner vs total station — measurement accuracy comparison (YouTube)

Independent comparison of OpenSLAM point cloud data against total station survey measurements — useful if you're evaluating the scanner for surveying applications.

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📁 Repository Structure

OpenSLAM/
├── README.md
├── stl/
│   ├── head.stl
│   ├── guard.stl
│   └── stand.stl
├── software/
│   ├── openslam.apk
│   └── A2 Bin to ShareStudio.exe
└── images/
    ├── resized-1.jpg
    ├── resized-2.jpg
    ├── resized-3.jpg
    ├── resized-4.jpg
    ├── resized-5.jpg
    ├── resized-5.jpg
    ├── pointcloud.jpg
    └── scanner.jpg

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🛣️ Roadmap

This is not a finished project — it's an actively evolving platform.

The current version delivers clean LiDAR-only point clouds. Here's what's coming:

Feature	Status	What it gives you
RTK GPS integration	🔄 In progress	Geo-referenced point clouds placed directly into world coordinate systems
Insta360 camera integration	🔄 In progress	Full-color point clouds using 8K 360° video — every point gets its real color

Once both sensors are integrated, OpenSLAM will produce colored, geo-referenced 3D scans out of the box — no post-processing, no external reference points needed.

📣 Follow updates in our Telegram — t.me/a2blog

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📄 License

MIT License — free to use, modify, and share. See LICENSE.

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💬 Contact

Telegram @a2blog — questions, setup requests, feedback.
If this helped you, give the repo a ⭐