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REFERENCE
XGRIDS reference
A quick technical reference for the XGRIDS lineup: a full spec-comparison table, accuracy figures explained, a SLAM and 3D Gaussian Splatting glossary, and answers to the most common questions.
SPEC COMPARISON
Every device, side by side
Accuracy figures are post-processed RMSE. Scroll horizontally on smaller screens.
Device
Class
Point rate
Range
Rel / Abs accuracy
RTK
Weight
PortalCam
Spatial camera
856k pts/s
0.1–30 m
— / —
No
870 g
LixelKity K1
Entry handheld
200k pts/s
0.1–40 m
1.2 / 3 cm
Yes
<1 kg
Lixel K2
Premium handheld
200k pts/s
≥40 m (100 m)
1 / 3 cm
Built-in
~1.2 kg
Lixel L2 Pro
Flagship survey
320–640k pts/s
0.5–300 m
1 / 3 cm
Fusion
1.7 kg
ACCURACY
What the accuracy numbers mean
Relative accuracy (RMSE)
How consistent the scan is with itself. The K2 and L2 Pro reach 1 cm; the K1 reaches 1.2 cm. This drives the quality of internal measurements.
Absolute accuracy (RMSE)
How closely the scan matches real-world coordinates — 3 cm across the K1, K2 and L2 Pro, achieved with RTK or ground control.
Repeatability
How closely repeated scans of the same area agree — 2 cm across the handheld and survey scanners.
Point cloud thickness
How tightly points sit on a real surface — 0.5 cm on the L2 Pro and ≤1 cm on the K2 — a good proxy for cleanliness.
GLOSSARY
SLAM & 3DGS glossary
3D Gaussian Splatting (3DGS)
A rendering technique that represents a scene as millions of colored 3D Gaussians, producing photorealistic, real-time views from captured imagery. XGRIDS generates 3DGS scenes with Lixel CyberColor.
SLAM
Simultaneous Localization and Mapping — how a handheld scanner tracks its own position while building a map, so no static tripod setup is required.
LiDAR
Light Detection and Ranging — a laser sensor that measures distance to surfaces to produce precise 3D point clouds.
Point cloud
A set of 3D points (x, y, z, usually with color) representing scanned surfaces; the raw geometry output of LiDAR scanning, commonly exported as LAS.
RTK
Real-Time Kinematic positioning — a GNSS method that corrects satellite positions in real time to centimeter accuracy for absolute georeferencing.
PPK
Post-Processed Kinematic — the same centimeter-level GNSS correction, applied after the scan during processing instead of live.
Ground Control Point (GCP)
A surveyed marker with known real-world coordinates, used to georeference a scan and verify its accuracy.
Map Fusion
XGRIDS’ process of stitching multiple scan segments into one continuous, georeferenced model through automatic overlap-area recognition.
Loop closure
Returning a SLAM scan to a previously visited spot so the software can correct accumulated drift and tighten the model.
SLAM drift
The gradual accumulation of position error along a long scan path, minimized by loop closure and RTK.
Relative accuracy
How consistent measurements are within the scan itself (local precision), independent of real-world coordinates.
Absolute accuracy
How closely the scan matches true real-world coordinates — this requires RTK, PPK or ground control.
RMSE
Root Mean Square Error — a standard statistical measure of accuracy used in scanner specs. Lower values are better.
Spherical Harmonics (SH)
Data in a 3DGS model that encodes view-dependent color such as reflections and lighting. Turning SH off produces smaller, more portable models.
LAS
A standard file format for LiDAR point clouds, widely supported across CAD, GIS and BIM software.
LCC2
XGRIDS’ open-sourced 3D Gaussian Splatting file format, designed to standardize 3DGS pipelines across third-party tools.
FAQ
Choosing & using XGRIDS
Which XGRIDS scanner should I choose?
Choose the LixelKity K1 for compact, entry-level capture; the Lixel K2 for premium handheld work with built-in RTK; the Lixel L2 Pro for long-range survey and drone or vehicle mounting; and the PortalCam for 3D Gaussian Splatting-first spatial capture.
Which XGRIDS scanner is most accurate?
The Lixel L2 Pro and Lixel K2 both reach 1 cm relative and 3 cm absolute accuracy (RMSE). The L2 Pro adds the longest range and drone and vehicle options.
Do I need RTK?
RTK provides absolute, real-world accuracy. It is needed for survey-grade, georeferenced deliverables and optional for relative-accuracy or visualization work.
What is the difference between a point cloud and a Gaussian splat?
A point cloud is measurable geometry (exported as LAS); a Gaussian splat is a photorealistic, renderable scene (produced in LCC). XGRIDS devices can generate both from the same scan.
Can XGRIDS scanners georeference to real-world coordinates?
Yes. They use built-in or fused RTK, and optionally ground control points, to place scans in absolute real-world coordinates.
What software processes XGRIDS scans?
LixelStudio produces survey-grade LAS point clouds, while Lixel CyberColor (LCC) produces 3D Gaussian Splatting scenes. Many projects run both from the same capture.