GeoSlam ZEB Vision Installation manual

© 2018 GeoSLAM Ltd 0 ZEB REVO RT User’s Manual v1.0.3
Hardware User Guide

© 2022 GeoSLAM Ltd Page 1 ZEB Vision User Guide
Notes
The software and hardware described in this guide is furnished under licence and may only
be used or copied in accordance with the terms of the licence.
Copyright © GeoSLAM Ltd. 2022
Revision: 2.0
Release date: 16 September 2022
All rights are reserved. No part of this publication or the components it describes may be
reproduced, stored in a retrieval system or transmitted, in any form, or by any means,
electronic, mechanical, photocopying, recording, or otherwise, without prior written consent
from GeoSLAM Ltd.
GeoSLAM Ltd. provides this guide “as is”, without warranty of any kind and reserves the right
to make improvements and/or changes to the product described in this guide at any time and
without notice.
GeoSLAM Ltd. equipment should not be used as a primary navigation device.
CLASS A COMPUTING DEVICE. This equipment has been tested and found to comply with
the limits for a Class A digital device, pursuant to Part 15 of the FCC rules. These limits are
designed to provide reasonable protection against harmful interference when the equipment
is operated in a commercial environment. The equipment generates, uses and can radiate
radio frequency energy and, if not installed and used in accordance with the user guide, may
cause harmful interference to radio communications. Operation of this equipment in a
residential area is likely to cause harmful interference, in which case the user will be required
to correct the interference at their own expense.
SOFTWARE IS PROVIDED AS IS. To the maximum extent permitted by law, the
manufacturer (GeoSLAM Ltd.) and its suppliers disclaim all warranties, either express or
implied, including, but not limited to implied warranties of merchantability and fitness for a
particular purpose, with regard to the SOFTWARE, the accompanying written materials, and
any accompanying hardware. You may have other rights which vary from country to country.
NO LIABILITY FOR CONSEQUENTIAL DAMAGES. To the maximum extent permitted by
applicable law, in no event shall the company or its suppliers be liable for any damages
whatsoever (including without limitation, direct or indirect damages for personal injury, loss of
business profits, business interruption, loss of business information, or any other pecuniary
loss) arising out of the use of this product, even if the company has been advised of the
possibility of such damages. In any case, the company’s and its suppliers’ entire liability shall
be limited to the amount actually paid by the owner of the product for the product. Because
some states/jurisdictions do not allow the exclusion or limitation of liability for consequential
or incidental damages, the above limitation may not apply to the user.

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Contents
1. Introduction....................................................................................................................3
2. List of Parts ....................................................................................................................3
3. Data Capture...................................................................................................................4
3.1. Firmware Update ....................................................................................................................................4
3.2. Mounting and Installation........................................................................................................................4
3.3. Collecting Data .......................................................................................................................................6
3.4. Downloading Images ..............................................................................................................................7
4. Appendix – Firmware Update Procedure ..................................................................10
4.1. Download Package...............................................................................................................................10
4.2. Updating Camera Firmware .................................................................................................................10
4.3. Updating Scan Head Firmware ............................................................................................................13
ZEB Horizon Generation 1 Datalogger.................................................................................................................14
ZEB Horizon Generation 2 Datalogger.................................................................................................................14

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1. Introduction
The ZEB Vision can be used with the ZEB Horizon system to capture 360° panoramic photography
for point cloud visualisation and colourisation. Data is captured as the user walks through the area
of interest. The ZEB Vision uses GeoSLAM’s leading SLAM algorithm to automatically and
accurately position panoramic photos on a point cloud for an interactive viewing experience.
Provided the simple guidelines set out in this manual are adhered to, accurate 3D point clouds can
be generated in a fraction of the time taken with traditional terrestrial laser scanning methods.
2. List of Parts
The ZEB Vision includes the items listed below.
Part no.
Description
ZEB Vision camera and mount
ZEB Vision ethernet cable
3mm HEX Key
K_GS_ZEB_VISION
ZEB Horizon Hard Case
Figure 2-1. ZEB Vision components.

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3. Data Capture
3.1. Firmware Update
If you are retrofitting a ZEB Vision camera to an existing ZEB Horizon system, please ensure you
have the latest version of the scan head firmware installed. Instructions for this process can be
found in Appendix A.
For reference, instructions on how to update the Vision camera firmware can be found in Appendix
B.
3.2. Mounting and Installation
After unpacking your ZEB Vision kit, please follow these simple steps to ensure the system is set
up correctly for use.
Step 1. Remove the four rubber dampers from the back of the ZEB Horizon scanner.
Step 2. Attach the ZEB Vision camera to the back of the ZEB Horizon scanner using the captive
screws provided in the camera casing. The 3mm HEX key found in the screw accessory
kit can be used to tighten these screws and secure the camera in place.

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Step 3. Insert the CAM and AUX cables into the relevant ports on the sides of the ZEB Horizon
scanner head. Ensure the red dots are aligned before insert the cables.

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Step 4. Insert one end of the main cable into the port on the side of the ZEB Horizon scanner
head. Insert the other end of the cable into the port on the ZEB Horizon datalogger. Ensure
the red dots are aligned before inserting the cables into the ports.
3.3. Collecting Data
The ZEB Vision camera is powered by the ZEB Horizon system. Ensure the camera is fully
connected before powering on the Horizon system, otherwise it will not be detected and no images
will be captured. Once the ZEB Horizon initialisation process has been completed successfully,
images will begin to be taken.
The ZEB Vision camera provides status feedback during capture using the two LEDs on the
camera, please see the LED table below.
Camera Status
LED
Description
ZEB Vision connected successfully.
Start Up
ZEB Vision not connected successfully.
Flashing at 1 second intervals indicates images
are stored.
Memory Low (Approximately 10min capture time
remaining.
Capture
Error with Capture.

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Before conducting the capture, the following should be considered:
1. The operator should walk at a slower than normal walking speed. This will increase point
density in the laser data and reduce the risk of blurred images.
2. The operator should keep the system as steady as possible during the capture, avoiding any
sudden / sharp movements that will result in blurred images and errors in the point cloud.
The ZEB Vision camera has 6GB storage capacity. This allows for approximately 50 minutes of
data capture to be stored on the camera before images must be removed.
It is recommended to delete all project folders and images from the camera once they have
been downloaded.
For other best practices on capturing data for colourisation, please consult the guidance outlined
on GeoSLAM Academy.
3.4. Downloading Images
Insert one end of the ZEB Vision ethernet cable into the back of the ZEB Vision camera and secure
by tightening the screw. Insert the other end of the cable into the ethernet port of a PC. If no
ethernet port is on the PC then a USB-to-Ethernet adapter can be used.

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3.4.1. Establishing a Connection
The Vision camera is set to a Local Link IP address: 169.254.0.206. This enables connection to a
WindowsTM PC set to default Ethernet setting - DHCP “Obtain IP address automatically” without
the need to configure the IP settings.
To check the Ethernet settings on a WindowsTM PC go to:
Windows Search Bar > Network Connections
Right click on the Ethernet adapter to be checked and select:
Properties > Internet Protocol Version 4 (TCP/IPv4)
Select the Obtain the IP address automatically option button if not already set as shown
in Figure 3.1 and click OK to close the Network Properties dialogue boxes.
Figure 3-1. Network adapter settings.
3.4.2. Downloading Images
Data from the ZEB Vision is stored on the internal data drive in the camera. Images are stored in
the format - nnn_F_xxxxxx.jpg and nnn_R_xxxxxx.jpg, where:
nnn is the image number.
For Ris the lens type (either front or rear lens).
xxxxxx is the camera timestamp (PTS).
Open an instance of WindowsTM File Explorer and enter the address ftp://169.254.0.206/

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Please note that sometimes the data is cached by Windows and a manual refresh may be required
by pressing either the refresh button or F5 on your keyboard.
Images are saved in project folders named incrementally based on the order of scans (i.e.
Project_1, Project_2 etc). The Calibration file will automatically be copied into each folder. Copy
and paste the image folders you require to an appropriate location on your host PC.
It is recommended to delete all project folders and images from the camera once they have
been downloaded.
3.4.3. Updating Calibration File
The camera calibration file (camera_cal.json) is stored in a protected directory on the camera to
avoid accidental deletion. A copy of the calibration file is automatically stored in the image folder.
If users need to update the calibration file, then the file must be uploaded to the protected directory
using GeoSLAM Control Tool v3.3.
To update the calibration file on the camera:
1. With the ZEB Vision connected to the ZEB Horizon datalogger, power on the
datalogger if not already powered on.
2. Connect the camera directly to a PC using the supplied ethernet cable.
3. Open -> GeoSLAM Datalogger Control Tool.
4. Select -> Remote -> Connect.
5. Select -> ZEB Vision, at the Control Selection pop-up.
6. Input -> IP Address -> 169.254.0.206 into the dialog.
7. Select -> OK, to continue.
8. Select -> Settings -> Upload Calibration (Figure 3-2).
a. Browse -> user defined location of the calibration file (camera_cal.json)
b. Select -> OK, to continue.
c. Select -> OK, at the confirmation prompt to continue.
9. Power cycle the system.
Figure 3-2. Updating the camera calibration file.

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4. Appendix – Firmware Update Procedure
All files required for the update process are available to download from the GeoSLAM website:
•https://geoslam.com/getting-started-zeb-vision
Download the update pack file to your PC and extract the ZIP file to a temporary directory.
4.1. Download Package
The update package contains all files necessary to update both the ZEB Horizon and ZEB Vision
plus a copy of the Control Tool software to apply the updates.
File Contents
Description
\Vision V2 firmware update
\SHB_2_2_Gen 1 Datalogger
\SHB_2_2_Gen 2 Datalogger
DataloggerTools-3.3.0.zip
ZEB_Vision_2_1_0.7z
Firmware update files for 1st generation data loggers.
Firmware update files for 2nd generation data loggers.
Control Tool software to apply the firmware updates.
Firmware update file for Vision camera.
Table 1. Update package contents.
Extract the Control Tool software to a directory on the PC. No other files in the update package
are required to be uncompressed.
To start the Control Tool software:
1. Select -> DataLoggerControlTool.exe.
4.2. Updating Camera Firmware
To update the ZEB Vision firmware the following file is required:
•ZEB_Vision_2_1_0.7z.
Do not uncompress the file.
1. Connect the ZEB Horizon scanner to the datalogger using the main cable and power on
the system as normal.
2. Connect the camera to a PC as outlined in the ZEB Vision User Guide.
3. Open -> GeoSLAM Control Tool (Figure 1).

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Figure 1. GeoSLAM Control Tool.
4. Select -> Connect, to open the Control Selection (Figure 2)
Figure 2. Control Selection.
5. Select -> ZEB Vision.
6. Select -> OK, to continue.
7. Input -> 169.254.0.206, at the IP address popup to detect the camera (Figure 3).
Figure 3. Enter the camera IP address.
8. Select -> OK, to continue. The camera should now be connected (Figure 4).

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Figure 4. Camera successfully connected.
1. Select -> Software -> Update -> Software Update (Figure 5).
Figure 5. Software update.
2. Select -> Yes, at the dialog to select to update the firmware.

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Figure 6. Firmware update in progress.
3. Browse -> user defined location of the update file.
a. Select -> OK, to continue.
4. Select -> Yes, to confirm the update (Figure 7).
Figure 7. Firmware update confirmation.
5. The update will start and should complete in less than 5 minutes.
6. After the update has finished, restart the system, and the process is complete.
Before using the camera, proceed to the scan head firmware update section.
Only updating the camera firmware will result in neither the ZEB Vision or the
ZEB Horizon functioning correctly.

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4.3. Updating Scan Head Firmware
Any ZEB Horizon must be updated to firmware version 2.2 or later to function with Vision firmware
2.1. Once upgraded, the ZEB Horizon will now be ready for use with either a ZEB Vision or ZEB
Cam.
When updating this firmware, please ensure the scanner is connected to the datalogger before
the system is powered on.
Please follow the steps relating to the appropriate iteration your ZEB Horizon datalogger.
Information on how to distinguish which generation of datalogger you have, please consult
GeoSLAM Academy.
1.1.1. ZEB Horizon Generation 1 Datalogger
To update the ZEB Horizon 1st Generation Datalogger firmware the following files are required:
•listener.zip.
•settings.yaml.
Do not unzip the listener.zip file. Place the 2 files on a USB drive.
1. Insert a USB drive into the datalogger, to make ensure that there are no scan files on the
datalogger that have not been previously downloaded.
2. Download the firmware upgrade files to your PC.
3. Insert the USB 3.0 drive into your PC.
4. Transfer the firmware upgrade files onto the USB 3.0 drive, then remove the USB from your
PC.Power on your ZEB Horizon datalogger and wait for the status LED light to pulse red.
5. Insert the USB into the datalogger. The data LED will illuminate green to show the transfer
of the firmware upgrade files.
6. Once the data LED light has switched off, remove the USB and power off the datalogger.
7. Power on the system as normal.
8. After flashing blue, the datalogger status LED will flash red and the scanner LED will
illuminate orange during the update. Once complete the system automatically powers off.
9. Wait 10 seconds before powering on the system again. The system should now complete
the initialisation process and have the latest firmware installed.
ZEB Horizon Generation 2 Datalogger
To update the ZEB Horizon 2nd Generation Datalogger firmware the following file is required:
•Scan_head_board_release_2_2.bin.
1. Connect the ZEB Horizon scanner to the datalogger using the main cable and power on
the system as normal.
2. Connect the datalogger to a PC as outlined in the ZEB Horizon User Guide.
3. Open -> GeoSLAM Control Tool (Figure 8).

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Figure 8. GeoSLAM Control Tool.
4. Select -> Connect, to open the Control Selection (Figure 9)
Figure 9. Control Selection.
5. Select -> ZEB Datalogger.
6. Select -> OK, to continue.
7. Select -> ?, at the IP address popup to detect the datalogger.
8. Select -> OK, to continue. The datalogger should now be connected (Figure 10).

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Figure 10. Datalogger successfully connected.
9. Select -> Software -> Update -> SHB software (Figure 11).
Figure 11. SHB Software update.
10. Browse -> user defined location of the update file.
b. Select -> OK, to continue.
11. Select -> Yes, to confirm the update (Figure 12).

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Figure 12. Firmware update confirmation.
12. Select -> OK, to continue at the information dialog (Figure 13)
Figure 13. Update Information dialog.
13. After the update has finished, the Datalogger will shutdown and the connection to the
Datalogger Control Tool will be lost.
14. Restart the system.