Missed the reply window on the other thread. 
So, we have a legged bot and needed accurate ground scanning, but only in certain areas. We don’t know where until we have a rough scan. Now we do it as we go.
The simplest solution was to point the Zed X Nano facing down, under the bot. Legs let us vary the height of the image field while moving. FOV becomes a feature instead of the enemy. At 50mm, that’s about 50um per pixel. Or raise up for 3mm per pixel. We’ve been able to detect a 0.050mm gap in a caliper laying on the floor.
We swap cameras for fine positioning. It is interesting to SLAM closeup features. But it works well.
4 Zed X, 90deg each for 360deg. 1 Zed X Nano down. That’s it. Everything is fixed position.
The bot can work an area the size of a stadium and still see sub-micron features and map them. We dropped our automatic total stations as well. Indoor/outdoor.