Add QR Codes
This guide explains how to relocalize your Burro indoors using QR codes.
When your Burro loses localization—either because it has been taken away from a LiDAR map indoors or restarted indoors—you can now re-localize it using QR codes. Before you can do so, you’ll need to add a QR code to your map as a point of reference.
Installing Your QR Code
Get your new QR codes from your customer success representative or unbox the package from Burro.
Go to the location where you want to place the QR code. Check your BOSS map to ensure it’s within an existing LiDAR map.
Securely mount the QR code on a wall or structure where it won’t move. The QR code should be about 0.5 meters off the ground, or roughly at knee height, so the rear cameras can easily scan it.
Adding a New QR Code to the Map
To add a new QR code, your Burro must be localized either indoors or using another existing QR code. This provides a point of reference for the Burro to start from. Double-check that your LiDAR inliers are sufficient.
Ensure your Burro is already localized by either walking it outside or using another QR code already on the LiDAR map.
If your localization icon is showing yellow, ensure that your LiDAR inliers are more than 800. You can access this by clicking the GPS icon, followed by the ‘Advanced’ menu.
Put the Burro into “person follow” mode and guide it to the nearest location with your new QR code.
Align the rear camera with the QR code. While perfect alignment isn’t necessary, aim to be as aligned as possible.
Once the Burro is aligned, open the toolbox icon in the bottom left corner of the screen.
This will open the option to ‘Add a QR Code’. Click on it to start the scanning workflow.
You will be notified once the Burro has successfully scanned the QR code and added it to your map.
Congratulations! You should now be able to re-localize using the new QR code. You may purchase additional QR codes to add to your map. Contact your customer success representative for more information. It is recommended to have one QR code per greenhouse site you will be operating in.