DK

Live 3D Room Mapping

A handheld rig that builds a metric 3D map of a room as it moves. Everything runs on the device — no cloud, no desktop GPU.

The room that was scanned: desk, wall-mounted screen, and the calibration checkerboard on the wall
The room this scan was taken in.

A real scan, built live on the robot. Drag to orbit, scroll to zoom. Download the point cloud (.ply)

How it works

  • Two back-to-back global-shutter stereo pairs, 6.5 cm baseline each, facing opposite directions.
  • Isaac ROS cuVSLAM tracks the rig's pose; stereo depth runs on the GPU and nvblox fuses it into a TSDF mesh at 4 cm voxels.
  • All of it on a Jetson Orin Nano (8 GB), tuned to hold tracking and bound memory on limited hardware.

The viewer above renders the raw point cloud straight from the robot, shaded by height. Source on GitHub ↗

The rig: a Jetson Orin Nano and ArduCam CamArray HAT in a 3D-printed enclosure, powered by a USB-C battery pack
The module itself — Jetson and camera HAT in a printed shell, run off a USB-C battery pack so it can be carried around the room.