> For the complete documentation index, see [llms.txt](https://captic-2.gitbook.io/docs/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://captic-2.gitbook.io/docs/your-captic-system/volume-of-interest.md).

# Volume of Interest

Define the 3D area in which the robot can pick bags.

Robots have a limited reach. The Volume of Interest (VOI) defines the 3D area where the robot can pick safely. The system ignores every detection outside it, which prevents unreachable picks and filters out irrelevant detections.

![Volume of Interest](https://482575286-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F22HCD2cZG8ud6cPRBzVQ%2Fuploads%2FfGWOn54dHqqkvIDGDdno%2FGemini_Generated_Image_l0410sl0410sl041.png?alt=media\&token=927d3a0f-695e-454d-a65c-13f340d1d90c)

## How it works

The VOI is a 3D filter applied after detection:

1. The vision system detects bags in 3D.
2. Each detection is checked against the VOI.
3. Only detections inside the VOI are passed to the robot.

## Setting the VOI

### Step 1: Open the VOI settings

In the web interface (`http://[serial-number].local:3000`), go to **Settings > Pipeline Volume Settings > voi\_pallet**.

![Opening the VOI settings](https://482575286-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F22HCD2cZG8ud6cPRBzVQ%2Fuploads%2Fs39PgUN1OYaCbiRdQ4dy%2Fopen-voi-ezgif.com-video-to-gif-converter.gif?alt=media\&token=38a728af-0501-4519-8908-9bfd2da14700)

### Step 2: Use the VOI wizard

Open the **VOI Wizard**. You can position the volume in 3D, adjust its size, position and orientation, and check visually that it covers the robot's working area and nothing beyond it.

![VOI wizard](https://482575286-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F22HCD2cZG8ud6cPRBzVQ%2Fuploads%2FXG6O4gsKzztOlyyfjNUG%2FScreenRecording2025-12-12at14.44.48-ezgif.com-video-to-gif-converter.gif?alt=media\&token=32b1ae30-24ab-4fa6-8f0e-5ae881226c2d)

Once the VOI is set, only bags inside it are considered for picking.

{% hint style="info" %}
Running into issues? Contact <support@captic.com>.
{% endhint %}