Offset
Points to visit
How to measure
- Place the phone flat and line it up against a straight edge (table edge, box, ruler), with the top of the phone pointing the way you want to call +Y.
- Press Start and keep it completely still until the button turns red.
- Move smoothly, ideally in under 5 s. For a long or awkward route, stop part-way (e.g. on the door sill) and hold the phone completely still until the green ✓ Checkpoint tick appears (about a second): each checkpoint resets the drift.
- Stop just above the destination, then set it down gently. Don't let it knock onto the surface.
- Leave it still for ~2 s, then press Stop.
Hold still…
Loop mode
Moving…
Time 0.0 sRate – Hz
Checkpoints: 0
Start → far point
From start (INS cradle) to each point
mm (X right, Y forward, Z up)
Check the point-to-point distances against a tape measure.
Loop closure vs single move
mm (X right, Y forward, Z up)
Same recording processed both ways — record in Loop mode to compare.
good
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Gyro
Phone fusion
Session
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