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🧩 Components

🔎 What's Inside? 👀

Components Explosion giff

To support its high-performance, real-time capabilities, SMapper is built with a carefully selected set of components, each playing a crucial role in data acquisition and processing. The exploded view below offers a peek inside the device:

Components Explosion

🔧 Core Components:

  • Jetson AGX Orin Developer Kit1

    The brain of the system, handling real-time sensor synchronization, data capture, and onboard processing.

  • 4x 20MP e-CAM200_CUOAGX by e-Con Systems2

    Featuring 118.81° FoV and rolling shutter sensors, these high-resolution cameras are synchronized and arranged for overlapping coverage.

  • Ouster OS0-64 LiDAR3

    A compact yet powerful 3D LiDAR unit providing dense point clouds, ideal for close-range mapping and SLAM integration.

  • Intel RealSense D435i4

    Adds RGB-D data and IMU readings, expanding the sensory depth for cases only relying on RGB-D datasets.

🔋 Power & Connectivity

  • 20V 6.0Ah Drill Battery

    Easily swappable and rechargeable—ideal for long field sessions.

  • Buck Converter

    Steps down battery voltage to power the Jetson and peripherals efficiently.

  • DC-Jack to USB-C Male Adapter

    Delivers power to the Jetson using standard interfaces.

  • USB 3.0 Right-Angle Adapter

    For compact, secure, and clean cable management inside the enclosure.

🛠️ Design & Mounting System

SMapper is designed not only for performance, but for usability in the field. Its custom-built physical design brings together modularity, thermal efficiency, and versatility in deployment, whether handheld or robot-mounted.

3D-Printed Enclosure

The body of SMapper is split into three parts which are bolted together to form a robust enclosure:

  • Bottom shell – Houses the power module and the Jetson AGX Orin.

  • Middle shell – The main body of the enclosure, where the cameras, including the realsense are mounted to.

  • Top shell – Optimized for SLM metal 3D printing, this part helps dissipate heat from the LiDAR during continuous operation.

📷 (Insert close-up of the enclosure with shell labels here)

Coupling & Attachment Mechanism

The base of the system features a custom sliding coupling that enables quick attachment/detachment to different platforms:

  • Handheld configuration with the ergonomic grip and battery mount.
  • Robot-mount configuration, adaptable to a variety of mobile bases, including legged robots.

📷 (Insert photos of the coupling system sliding into both grip and robot mount here)

Ergonomic Handle

Designed with field use in mind, the handle balances the weight of the ~2kg device evenly thanks to its integration with a standard 20V drill battery, keeping the center of mass low and making the device easy to carry and operate during long sessions.

📷 (Insert photo of the handheld setup in action here)

  1. https://developer.nvidia.com/embedded/learn/jetson-agx-orin-devkit-user-guide/index.html ↩

  2. https://www.e-consystems.com/nvidia-cameras/jetson-agx-orin-cameras/20mp-ar2020-high-resolution-mipi-camera.asp ↩

  3. https://ouster.com/products/hardware/os0-lidar-sensor ↩

  4. https://www.intelrealsense.com/depth-camera-d435i/ ↩