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3D visual obstacle avoidance runs target detection, ground adaptation, and obstacle-status output on the camera. After configuring camera extrinsics and regions, you can switch obstacle-avoidance parameter groups and read results through the host application, API, or a supported field bus.
The values in this guide illustrate configuration relationships only. Actual values depend on the vehicle, installation position, and work area. Validate them on site before sending the configuration.

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Prepare for deployment

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Camera installation

Underride AMR installation

Camera mounted on the front of an underride AMR

Forklift installation

Camera mounted on a forklift mast

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Connect the camera

1

Configure the host network

The factory camera address is 192.168.100.82. Configure the computer’s Ethernet adapter on the same subnet.
2

Connect and verify imaging

Open LxCameraViewer, discover and open the camera, and confirm that the depth map and point cloud display correctly.
3

Change the camera address when needed

In Other tools → Network → IP configuration tool, change the IP address. The camera restarts after the change. If the camera moves to another subnet, update the computer’s Ethernet address as well.
Do not permanently disable the firewall on a production network. In a controlled debugging network, allow only the required applications and ports according to your security policy.

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Tune imaging

In 3D settings and Filter settings, verify image quality. For legacy obstacle-avoidance configurations, a high-exposure value of 650, low exposure of 200, and low-signal threshold of 10–20 can be used as a starting point. S10 normally requires only a glare level of 1. For non-standard installations, confirm the settings with technical support before deployment.

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Configure the obstacle-avoidance algorithm

1

Enable the algorithm

In Application algorithm, select the always-on mode. For S10, select Obstacle avoidance algorithm. For other supported models, select Obstacle avoidance algorithm 2.0.
2

Choose the region type

Choose a rectangular or sector-shaped region for the vehicle. S10 does not support sector-shaped regions; using one can produce incorrect results.
3

Set extrinsics and regions

Set the camera extrinsics first, then configure the obstacle-avoidance regions. When extrinsics change, the other regions use the new values.
4

Send and verify

Send the parameters, then verify warning, alarm, and shielded areas in the point-cloud view and output status.

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Camera extrinsics

Set the mounting height first, then fine-tune roll and pitch until the ground is level in the point-cloud view. Select Send parameters when finished.

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Obstacle-avoidance regions

X values are relative to the vehicle center. The actual protection distance must also account for the camera’s X offset, such as warning distance minus the camera’s front-to-rear offset.
The number of supported region groups depends on the switching method: Back up verified values in Tools\\params\\<camera ID>\\avoidance.json. You can apply the file to another vehicle of the same type with Load configuration from file.

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Communication and status output

Configure the obstacle-avoidance regions and extrinsics in the host application before using a field bus or network protocol. Except for the API, most communication methods switch parameter groups; use the host application or API for detailed parameter settings.
I/O has the highest priority. While I/O is active, other methods cannot change the current parameter group, but they can still update default or temporary parameters. The host application and API set default parameters; UDP, CAN, and RS485 normally set temporary parameters. Behavior after power loss depends on how the latest configuration was saved.

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API

Windows, Linux, and ARM applications can call obstacle-avoidance APIs through the SDK. After installing the Windows host application, the SDK and examples are available in its installation directory. The obstacle-avoidance example is in Sample\\C\\application_obstacled. For S10, avoid switching parameter groups at a high frequency through the API; use UDP or I/O instead.

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RS485 (M4 Pro only)

Use Modbus RTU with a recommended baud rate of 9600. Read the two input registers starting at address 108 (0x6C) with function code 0x04 to obtain the current obstacle-avoidance result. Write a single register at address 106 (0x6A) with function code 0x06 to switch parameter groups.

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UDP and TCP

Messages are sent as hexadecimal frames. For UDP, send the connection-establishment message first. After the connection is established, the camera sends results at the image frame rate. The default remote UDP port is 6688. Switching parameters requires load time; avoid rapid switching because it can reduce the image frame rate and result refresh rate.

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CAN and I/O

CAN can switch parameter groups on supported models. I/O outputs report clear, deceleration, and emergency-stop states. The output type may be push-pull or open-drain; confirm the controller input type before wiring.
For S10, connect 24 V− to the controller power ground, and connect IN_G and OUT_G to the controller signal ground. If the controller does not distinguish the two grounds, use the site’s approved common-ground scheme. Confirm whether the controller uses PNP or NPN signals and verify wiring with a multimeter.

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Troubleshooting