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Documentation Index

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Calibrate stereo depth to ensure stable obstacle avoidance and navigation behavior. MARS uses stereo depth for navigation and obstacle avoidance. Because cameras vary slightly across units, each robot must be calibrated.
If depth calibration is missing (or removed), navigation automatically falls back to non-depth mode. This can help if you suspect depth calibration is hurting navigation quality. Run calibration:
  • After first setup
  • After major OS updates that include depth changes
  • Any time depth readings appear unstable

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1) Prepare the calibration board

Download and print:
Setup notes:
  • Print at 100% scale (no fit-to-page scaling)
  • Mount it flat on a letter-sized cardboard backing
  • Do not cover checker squares or markers
  • Flatness matters more than perfect edge trimming

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2) Start calibration from the app

1

Open the Innate Controller App

Make sure your phone is connected to the same robot session.
2

Go to Configuration -> Depth and tap Start calibration

Use the Configuration tab, open Depth, then start calibration.
3

Place the board when MARS raises its hand

Place the board in front of the hand with the pattern facing the robot head, then hold steady until MARS grabs it.

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3) Let calibration complete

  • Stay clear while MARS runs the sequence
  • Wait for completion status in the app
  • If it fails, repeat with better board flatness and stability
After completion, run Configuration -> Depth -> Check depth before normal navigation.