9
4.2.2
Landmarks setting
The landmarks should be placed at maximum of
x
m interval on the
ceiling for the height of about
h
m in order that any dead zone may not
occur (figure 4b), with a relation of:
Equation 4.1:
x
= 0.8
⋅
h
Example:
h
=2.5 m =>
x
= max 2m
a)
with dead zone
(b) without dead zone
Figure 4: The placement of landmarks
You don’t need to install all the 4 landmarks if your area is smaller. And
they don’t need to be placed in a square shape because during the map
building process, the relative position of the landmarks are computed.
The default landmarks delivered with the KSG are of type
HLD1S
. They
can be used with a height range of 1.1-2.9 m. See chapter 3 A and appendix
C of “Stargazer User’s Guide” for more information about the landmark:
http://ftp.k-team.com/KheperaIII/KSG/StarGazer_Guide_02.0904.16(English).pdf
x
x
