> For the complete documentation index, see [llms.txt](https://multiset.gitbook.io/multiset/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://multiset.gitbook.io/multiset/basics/maps/mapping-planning.md).
# Mapping Planning
**Optimizing Your Scanning Approach**
Plan an efficient path when scanning smaller spaces, keeping a distance of 0.5-4m from surfaces and using a fronto-parallel approach (scan objects directly in front of you).
**Follow these key principles:**
* Create a circular path along boundaries that covers all important features without overlapping
* Position start and end points near each other to avoid duplicating scans
* Scan tables and flat structures from one side only
* Skip inaccessible areas behind or beneath objects users won't approach
* Be aware that complex objects like plants are difficult to capture accurately
* Avoid scanning transparent or reflective surfaces, or cover them if necessary
{% hint style="warning" %}
Scanning empty rooms provides insufficient features for MultiSet VPS for localization
{% endhint %}
{% embed url="" %}
---
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