GeoSlam ZEB Horizon Installation manual

Hardware User Guide

© 2022 GeoSLAM Ltd 1 ZEB Horizon User Guide v4.0
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: 4.0
Release date: 31 January 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 anymeans, 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 themaximum extent permittedby law, themanufacturer (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.

© 2022 GeoSLAM Ltd 2 ZEB Horizon User Guide v4.0
Table of Contents
1. Introduction .................................................................................................................................................. 3
1.1. Specification..............................................................................................................................................................................3
2. List of Parts................................................................................................................................................... 4
3. Battery........................................................................................................................................................... 5
3.1. Specification..............................................................................................................................................................................5
3.2. Recharging................................................................................................................................................................................5
3.3. Capacity and Run ‐ Time Display ................................................................................................................................................5
3.4. Battery Care.............................................................................................................................................................................6
3.5. Transportation ...........................................................................................................................................................................6
4. Safety............................................................................................................................................................. 7
4.1. General Safety ..........................................................................................................................................................................7
4.2. Laser Safety ..............................................................................................................................................................................7
4.3. Electromagnetic Compatibility ...................................................................................................................................................7
4.4. Battery Safety............................................................................................................................................................................7
4.5. System Disposal........................................................................................................................................................................7
4.6. Further Help and Information.....................................................................................................................................................8
5. Principal of Operation.................................................................................................................................. 9
6. Usage Guidelines ......................................................................................................................................... 9
6.1. The Environment.......................................................................................................................................................................9
6.2. Loop Closure.............................................................................................................................................................................9
6.3. Transitioning between Environments.......................................................................................................................................10
6.4. Walking Speed ........................................................................................................................................................................10
6.5. Minimum and Maximum Range...............................................................................................................................................10
6.6. Duration of Scanning...............................................................................................................................................................10
6.7. Survey Areas with Restricted or Difficult Access .....................................................................................................................10
6.8. Moving Objects in the Environment.........................................................................................................................................10
7. Data Capture............................................................................................................................................... 11
7.1. Connecting the Hardware........................................................................................................................................................11
7.2. Connecting the Reference Base..............................................................................................................................................11
7.3. Collecting Data........................................................................................................................................................................11
7.4. Shut Down Procedure .............................................................................................................................................................12
8. LED Error Status Summary....................................................................................................................... 13
8.1. LED Status Table ....................................................................................................................................................................13
8.2. LED Error Table.......................................................................................................................................................................13
9. Data Management....................................................................................................................................... 14
9.1. File Transfer Using Windows
TM
File Explorer ..........................................................................................................................14
9.2. Downloading to USB Storage Device......................................................................................................................................16
10. Data Processing .........................................................................................................................................17
10.1. GeoSLAM Connect Software...................................................................................................................................................17
11. Appendices................................................................................................................................................. 20
11.1. Appendix 1 ‐ USB Prepare Tool..........................................................................................................................................20
11.2. Appendix 2 –Dimensional Drawings.......................................................................................................................................21
11.3. Appendix 3 –Air Transport Certificate.....................................................................................................................................23

© 2022 GeoSLAM Ltd 3 ZEB Horizon User Guide v4.0
1.Introduction
The ZEB Horizon provides a rapid and simple means of capturing 3D point cloud data. Data is captured as the user
walks through the area of interest. The ZEB Horizon negates the need for time consuming scanner set ‐ ups and data
registration associated with traditional terrestrial laser scanning methods.
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.
1.1. Specification
Maximum range
100m
Points per scan line
1800
Field of view
360
o
x 270
o
Scan rate
300,000 points/s
Scan range noise
±30mm
Frequency
10Hz
Laser wavelength
903nm
Horizontal angular
resolution
0.20
o
Protection Class
IP 54
Power supply
14.8VDC ~ 1.5A
Weight
Scanninghead
Datalogger (inc. battery)
1.45 kg
1.40 kg

© 2022 GeoSLAM Ltd 4 ZEB Horizon User Guide v4.0
2. List of Parts
Part No. Description
1 GS_610090
ZEB Horizon handheld laser scanner
2 GS_610237
ZEB Horizon datalogger
3 PAG_9307GS
14.8V Lithium-Ion Battery
4 GS_610098
ZEB Horizon main cable
5 PAG_9713V
14.8V Battery Charger
6 GS_610121
ZEB Horizon Reference Base
7 GS_310025
USB storage device containing GeoSLAM Connect licence
8 SWA_138576
ZEB Horizon backpack
9 OPT_8248
Datalogger shoulder strap
10 GS_610253
ZEB Horizon Phone Holder
Figure 2-1
9

© 2022 GeoSLAM Ltd 5 ZEB Horizon User Guide v4.0
3.Battery
3.1. Specification
Output voltage
14.8V nominal
Capacity
6.1Ah (+/ ‐ 5%) 90Wh
Charge voltage
16.8V
Weight
0.57kg
Charging
temperature
0
0
C to 40
0
C
Life cycle
>300 cycles
Protection
Over current, over voltage, under voltage, thermal
Transportation
UN 38.3 transportation test certified
3.2. Recharging
Plug the charger into the AC mains – the LED light will glow green.
PlugthechargerleadfirmlyintothebatterytheLEDlightwillchangetoredtoindicatecharging. WhentheLEDlightchanges
backtogreen,thebatteryisfullycharged.
Disconnect the charger from the battery and from the AC mains.
󱛻󱛼󱛽 Do not leave the charger connected to the battery for long periods after the battery is charged
3.3. Capacity and Run ‐ Time Display
Asingle buttonpress ofthedisplay button onthesideofthebatteryshowsa percentagefigureof available capacity, to a
resolution of1%.
Theaccuracyofthedisplayismaintainedbytrackingbatteryperformanceandadjustingcalibrationvaluesto compensate
forthe ageing ofthecells.
When battery is fully ‐ discharged the display will indicate 3 dots as below.
When the battery is fully charged the display will indicate 100%.

© 2022 GeoSLAM Ltd 6 ZEB Horizon User Guide v4.0
WhenconnectedtotheZEB Horizonthatispowered on,two presses ofthebattery’s displaybuttonwillshowa predicted
run ‐ timeagainstthegivenload,expressedinhoursandminutes.
The Capacity display senses the orientation of the battery and adjusts to ensure legibility.
3.4. Battery Care
DONOTdisposeofinnormalhouseholdwaste. DONOTattempttodismantlethebattery.
DO NOT short circuit the battery.
ONLYusethechargersuppliedwiththebattery. Thebatteryshouldbechargedfullybeforeuse.
If storing the battery, store in a charged state. Recharge after every 6 months.
Excessheatwilldegradethebatteryrapidly.Alwaysstorethebatteryinacooldryplace. DONOTleaveforlong periods in
the sunorina hotvehicle.
Itisrecommendedtorechargethebatterywithin12hoursiffullydischarged. Thebatteryissplashproofbutnotwaterproof –
󱛻󱛼󱛽 Do not immerse in water.
3.5. Transportation
The battery has been tested and passed section 38.3 of the UN Manual of Tests and Criteria (UN Transportation
Testing) as required by the IATA Dangerous Goods Regulations (2016), Section 2.3.5.9. The battery is below the
100Wh limit for transportation on passenger planes. For the purposes of air transportation, the battery is classed as
“Packed with equipment” (ICAO/IATA Packing Instruction 966, Section II) – Cells or batteries contained in a package
with associated electronic equipment. Special rules may apply to the transportation of spare batteries. It is
recommended that you check with your local air transportation safety authority and/or the proposed air carrier for
specific requirements on lithium battery transportation.
󱛻󱛼󱛽 Never ship a damaged battery by air transportation

© 2022 GeoSLAM Ltd 7 ZEB Horizon User Guide v4.0
4.Safety
4.1. General Safety
The ZEB Horizon should only be used by trained operators. Always follow basic safety precautions when operating the
ZEB Horizon toreducetheriskofpersonalinjuryandtopreventdamagetotheequipment. Do notoperatetheequipment
with suspected defects or obvious mechanical damage. Please refer all servicing of the equipment to qualified service
personnel.Only usethecomponentsandaccessoriessupplied withyoursystem or other accessories recommended by
GeoSLAMLtd. Beforeoperatingthesystemforthefirsttimepleasereadthis manual infull.
Theequipmentcontainssensitiveelectricalandmechanicalpartsandthusrequiresappropriatehandling. Donot bendor
pullthecablesforcibly.Neverpushobjectsofanykindintotheconnectorsorsockets.Keeptheequipment outofthereachof
children.UndernocircumstancesshouldanymodificationsbemadetotheZEB Horizon without prior written permission
fromGeoSLAM Ltd.
4.2. Laser Safety
TheZEB HorizonincorporatesaVelodynePuck Lite (VLP
‐ 16 Lite)laserscanner. The
Puck Liteis classifiedasaCLASS1LaserProductinaccordancewithIEC60825 ‐ 1:2007
& 2014. Equipment classification and requirements. Class 1 Laser Products are safe
under reasonably foreseeable conditions of operation, including the use of optical
instruments for intra ‐ beam viewing.
4.3. Electromagnetic Compatibility
The ZEB Horizon meets or exceeds the following standards:
EN 301 489-17 V3.2.4 (2020-09), EN55035:2-17 and EN55032:2015, Electromagnetic compatibility of multimedia
equipment- Emission Requirements (CISPR 32:2015) and Immunity requirements
CFR 47 Code of Federal Regulations: Pt 15 Subpart B ‐ Radio Frequency Devices ‐ Class A Unintentional Radiators
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. This equipment generates, uses and can radiate radio
frequency energy. If not installed and used in accordance with the instruction manual this may cause harmful
interference to radio communications. Operation of this equipment in a residential area may cause interference.
4.4. Battery Safety
DONOTattempttodismantlethebattery. DONOTshortcircuitthebattery.
ONLY use the charger supplied with the system.
Excessheatwilldegradethebatteryrapidly.Alwaysstorethebatteryinacooldryplace. DONOTleaveforlong periods in
the sunorina hotvehicle.
The battery is splash proof but not waterproof – 󱛻󱛼󱛽 Do not immerse in water.
4.5. System Disposal
WhentheZEB Horizon reachestheendofitslife
‐ cyclepleasedisposeoftheequipmentin accordance
withDirective2002/96/EConWasteElectricalandElectronicequipment(WEEE).
GeoSLAM Ltd is prepared to take back the waste equipment and accessories free of charge at the
manufacturingunitinRuddington,UKforpropertreatmentwiththeobjectivesoftheWEEE.

© 2022 GeoSLAM Ltd 8 ZEB Horizon User Guide v4.0
4.6. Further Help and Information
In the event of a problem that cannot be resolved using the information supplied, please contact GeoSLAM. You can
also gain assistance through the support page on our website: https://geoslam.com/support
For further assistance, contact GeoSLAM Technical Support by telephone or email. Our Customer Support personnel
will discuss your situation, determine the cause of the problem and provide the appropriate technical assistance.
Contact GeoSLAM by any of the following methods:
Phone: [phone] (all countries)
Phone: [phone] (US & Canada)
Email: [e-mail]

© 2022 GeoSLAM Ltd 9 ZEB Horizon User Guide v4.0
5. Principal of Operation
The ZEB Horizon consists of a time ‐ of ‐ flight laser range sensor (LIDAR) coupled to an inertial measurement unit (IMU).
The LIDAR sensor is mounted on motor drive that rotates the sensor through 360 degrees to enhance the sensor’s
3D field of view. A novel 3D simultaneous localization and mapping (SLAM) algorithm is used to combine the lidar and
IMU data to generate accurate 3D point clouds.
The ZEB Horizon captures raw laser range measurement and inertial data. This data must be processed using
GeoSLAM’s SLAM algorithm to convert the raw data into a 3D point cloud. The data is processed using the GeoSLAM
Connect processing application.
6.Usage Guidelines
This chapter provides guidelines for how the ZEB Horizon should be used to achieve the best possible results. Priorto
conductingasurvey,theusershouldplantheproposedsurveypathinordertoidentifypotentialproblem areas,e.g.feature
poor environments, doorway transitions and stairwells. In these areas, the user should plan how toconduct the survey
takingintoaccounttherecommendationsinthischapter. Theplanshouldalsomake provisionfor“closing loops” wherever
possible. Please adhere tothese guidelines in orderto achievethebest results.
6.1. The Environment
The SLAM algorithm used to process the raw laser scan data into a 3D point cloud relies on there being features in the
scanned environment that are repeatedly scanned as the operator passes through the scanned environment. Fora
feature to be significant the ratio ofits size toits range must be approximately 1:10, e.g. at 5m range for a feature to be
significantit must be>0.5minsize. ‘Feature poor’ environments include openspaces andsmoothwalledpassageways.
In smooth walled passageways there may not be sufficient features inthe direction of travel for the SLAM algorithm to
determineforwardmotion.Infeaturepoorenvironments we recommend the following steps aretaken:
• If possible, augment the environment with additional features. e.g. boxes in a corridor or a parked vehicle in an
open field.
• Ensure that whatever limited features are available are scanned repeatedly as you move through the environment
by pointing the ZEB Horizon in the direction of the feature. By doing so more measurement points are made of
the feature increasing the likelihood that it will be used by the SLAM algorithm. This is particularly important when
the feature is at long range (>10m). e.g. when scanning a smooth walled passageway where the only feature in
the direction of travel is the end wall or door.
• Avoid scanning moving objects (e.g. passing pedestrians or vehicles) as the SLAM algorithm may lock on to these
objects as static features.
6.2. Loop Closure
The SLAM algorithm used to process the raw scan data into a point cloud uses a method analogous to the Traverse
technique used in survey practice, in that a previously known position is used to determine its current position. This
method can result in the compounding of any error introduced causing measure position to “drift”. It is good su rvey
practice to “close the loop” by re ‐ surveying a known position so that the compounded error can be spread around the
loop.
As a minimum, it is required that the operator must start and end the survey in the same position to ensure at least
one loop closure. However, it is recommended where possible that the operator closes the loop as often as possible
in order to minimise error and improve the accuracy of the resulting point cloud.
In general, it is better to do circular loops rather than “there and back” loops where the survey path simply doubles
back on itself. This applies to horizontal and vertical loops, i.e. if possible enter and exit through different doors, move
between floors via different stair wells.
It is important to scan the closed loop regions carefully to ensure the key features are scanned from a similar
perspective. It may be necessary to turn around if you return to a region from a different direction. This is particularly
important in feature poor environments.

© 2022 GeoSLAM Ltd 10 ZEB Horizon User Guide v4.0
6.3. Transitioning between Environments
Extra care must be taken when transitioning between environments, for example passing through a doorway or turning
through a tight bend to avoid introducing errors. When transitioning between environments the local view may change
abruptly and the SLAM algorithm may have difficulty placing the new environment relative to the previousenvironment.
Thismayresultinroomseithersideofadoorwaybeingslightlymisaligned.
Transitionthroughdoorwaysslowlyandensurethatthereisaperiodwhenthescannercanviewfeaturesonboth sides of
the doorway(i.e. intobothrooms).
Trytoopen alldoors beforestarting thesurvey. Avoid scanning doors astheyare beingopened.Ifnecessary,face away
fromthedoorandopenfrombehindthenpassthroughthedoorwaybackwards.
Transitionaroundtightbendsslowlyandensurethatthereisaperiodwhenthescannercanviewfeatureson bothsidesofthe
bend.
Takecarewhentransitioningfromanenclosedfeaturerichenvironmenttoanopenfeaturepoorenvironment, forexample
exitingabuilding.Itmaybenecessarytoturnandfacetheexitandtheexteriorofthebuildingifno other features are within
range.
Avoid scanning any other moving objects (e.g. walking pedestrians) as you pass through a transition.
6.4. Walking Speed
Itisrecommendedthatdataiscapturedatwalkingspeedtoensuregoodcoverageandhigh ‐ resolutiondata.If theforward
movementis toofastthere may notbeenoughrepeat scans offeatures forthe SLAM algorithm tobe able to process the
rawlaserdataintoapointcloud.
6.5. Minimum and Maximum Range
Datawithinasmallrangevalueisnotprocessed(bydefault)toeliminatedatafromthescanneroperatorbeing includedin
thefinalpointcloud.Avoidcloseproximitytowallsandceilings.
Themaximumrangeofthescanneris100m.Thisrangewillonlybeachievedinoptimalconditions(indoorswith goodtarget
reflectivity).Thetypicalmaximumrangewillbe60 ‐ 80minmostconditions. Itisrecommendedthat therangeiskepttoless
than50mwherepossibletoensuregoodpointdensity andtoassisttheSLAMalgorithm.
6.6. Duration of Scanning
Forverylargesurveystheprojectshouldbebrokendownintomorethanonescanmission.Thisistoavoidvery large
filesizesaswellasreduceanydriftthatmightbecreatedinthedata.Itisrecommendedthateachsurveyis limitedto30
minutes.Atslowwalkingpace,itispossibletocover1000 ‐ 3000mofsurveydistance.
6.7. Survey Areas with Restricted or Difficult Access
Thescanningheadcanremainstationaryforshortperiodsoftimewhilsttheoperatornegotiatesdifficultaccess points(e.g.
tightsqueezesincavesystems).Thescanningheadcanalsobeheldinthehandandmovedupand downtomimicthenormal
oscillating motion for short periods oftimetoassist transition through survey areas with restricted or difficultaccess.
6.8. Moving Objects in the Environment
InmostcasetheSLAMalgorithmisabletohandlemovingobjectsintheenvironment.Inordertoestimatethe sensortrajectory
thealgorithmassumesalargeproportionoftheenvironmentisstatic.However,insomefeature poor environments where
3Dstructureislackinginsomedimensions,movingobjectscanhaveagreaterimpact onthesolution.Inparticular,moving
objectsshouldbeavoidedinlongtunnel ‐ likeenvironments(e.g.corridors), relatively open spaces and when transitioning
through doorways.
Itisbestpracticenottohaveotherpeoplecloselyaccompanytheoperatorduringthescanacquisitionastheywill bescanned
throughout the map leaving streaks ofdataandpotentially corruptingthe solutioninfeature poor environments. If people
are required tofollow the operator they should ideally maintain a distance of 20m or more from the operator.

© 2022 GeoSLAM Ltd 11 ZEB Horizon User Guide v4.0
7.Data Capture
ThischapterdescribeshowtoconnecttheZEB Horizonhardware,howtocollectrawscandataandhowto downloadtheraw
scandatafromthedatalogger.
7.1. Connecting the Hardware
The ZEB Horizon can be used as a handheld device using the supplied removable handle or can be mounted to mobile
platform using threaded mounting points (see Section 12.1) or the optional mounting plate.
Connect the ZEB Horizon main cable to the socket on the side of ZEB Horizon scanner head.
ConnecttheotherendoftheZEB HorizoncabletotheHORIZONsocketontheZEB Horizondatalogger.
7.2. Connecting the Reference Base
To attach the reference base plate, orientate the ZEB Horizon and plate as shown in Figure 7-1.
The base of the ZEB Horizon handle sits within the ‘cup’ on the top of the reference plate and the alignment pin should
be toward the front point of the plate. Fix the plate by tightening the captive screw by hand using the ‘D’ ring as shown
in Figure 7-2 below.
Figure 7-1 Figure 7-2
7.3. Collecting Data
TheprocessofcollectingdatausingtheZEB Horizonscanningsystemishighlyautomated.However,caremust betaken
to ensure that the collected data can be successfully processed into a 3D point cloud using GeoSLAM’s unique SLAM
algorithm. Itis strongly recommended that the user conducts a survey plan, considering the recommendationssetoutin
theUsageGuidelinesinSection6,beforecommencingdatacollection.

© 2022 GeoSLAM Ltd 12 ZEB Horizon User Guide v4.0
When you are ready to start collecting data follow the steps in the table below:
Step 1
Connecting the hardware:
Ensure batteryischargedandconnectedtodatalogger.ConnecttheZEB Horizon main cable to
the socket on the side of ZEB Horizon scanner head. Connect the other end oftheZEB Horizon
cable to the SCANNER (orange) socket on the ZEB Horizon data logger. Position the ZEB
Horizon scanner on a flat stationary surface. Ensure the scan head is free torotate. Turn onthe
ZEB Horizondataloggerbypressingtheon/offbutton.
Data Logger LED
ScanheadLED
array
STATUS
DATA
Step 2
Data logger booting up.
-
-
Step 3
Connecting to scan head.
-
Step 4
Standby mode
-
Step 5
Initiate new scan
Long press the function button on either the scan
head or the data logger until the STATUS LED and
scan LEDarraylightturnsolidredtoinitiatea newscan
Step 6
Initialisation mode
The scan head must remain stationaryforaperiodof
15 seconds. If the scan head is disturbed during
initialisation the system will revert to standby mode
(Step4)
-
Step 7
Scanning mode
After the 15secondinitialisation,the STATUSLEDand
scan head LED array will light green and the scan
head will start rotating. Pick up the scanner and
conductthescan.
-
Step 8
End scan - Data formatting
To end the scan, long press the function button on
either the scanner head or the data logger until the
scanheadstopsrotating.
TheDATALEDwilllightorangewhile the scan data is
converted to the required outputformat
Step 9
Standby mode
From stand ‐ by either Initiateanewscan(Step5),
Downloadthedatafromthelatest scans(section8),or
Shut down (section 8)
-
󱛻󱛼󱛽 The scanner must remain static during initialisation
During data capture the data logger can either be carried in your spare hand or carried on your side using the supplied
shoulder strap.
7.4. Shut Down Procedure
Toshut the ZEB Horizon data logger down long press the power button until two beeps are emitted. The STATUS and
DATALED’s onthedataloggerwillalternateREDuntilthesystempowersdown.
󱛻󱛼󱛽 Do not turn the data logger off until the DATA LED is off

© 2022 GeoSLAM Ltd 13 ZEB Horizon User Guide v4.0
8. LED Error Status Summary
8.1. LED Status Table
STATUS LEDon data
logger
LED array on scan head
Description
BLUE flash
‐
‐
Data logger booting
BLUE
BLUE
Connecting to scan head
RED pulse
REDLED
strobing fromleft
toright
Scanner is in standby mode
RED
RED
Scannerabouttoenterinitiationmode
ORANGE flash
ORANGE flash
The scanner is in initiation mode
GREEN
GREEN
The scanner is scanning mode
DATA LEDondatalogger
ORANGE
‐
‐
Scan data is being formatted
󱛻󱛼󱛽 Do not turn the data logger off
GREEN
Data transfer to USB storage device
󱛻󱛼󱛽 Do not remove USB storage device
8.2. LED Error Table
STATUS LED on data
logger
LED array on scan head
Description
Single
RED flash
Single
RED flash
Laser sensor not detected
Double RED
flash
Double RED flash
IMU sensor not detected
Triple RED flash
Triple RED flash
Laser and IMU sensors not detected
ORANGE
ORANGE
Data logger turned off during Data
Formatting
Shut down paused until data formatting
is complete

© 2022 GeoSLAM Ltd 14 ZEB Horizon User Guide v4.0
9. Data Management
The collected datasets can be downloaded to a PC running GeoSLAM connect using 2 methods:-
• File Transfer Using Windows
TM
File Explorer by connecting an ethernet cable between the PC and the
datalogger
• File Transfer via USB Storage Device#
9.1. File Transfer Using Windows
TM
File Explorer
The datalogger is set to Local Link IP address 169.254.0.205 which enables connection to a Windows
TM
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 Windows
TM
PC go to:
Control Panel>Network and Internet>Network Connections
Right click o 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 9.1 and
click OK to close the Network Properties dialogue boxes.
Connect an Ethernet cable between the datalogger and the web enabled device and power the data logger ON
Figure 9-1

© 2022 GeoSLAM Ltd 15 ZEB Horizon User Guide v4.0
Open an instance of Windows
TM
File Explorer and enter the address \\gs-datalogger.. The root directory of the data
logger is displayed as shown in Figure 9-2.
Figure 9-2
Open the data folder and select the datasets ( .geoslam files) you wish to download as shown in Figure 9-3.
Figure 9-3
Datasets can be deleted from the
data folder using the File Delete function in Windows
TM
File Explorer.
󱛻󱛼󱛽 Please note: When removing datasets from the data folder on the datalogger using Windows
TM
File Explorer,
the data is permanently deleted from the datalogger and cannot be retrieved.

© 2022 GeoSLAM Ltd 16 ZEB Horizon User Guide v4.0
9.2. Downloading to USB Storage Device
Todownloadtherawscandata,powerontheZEB Horizondataloggerifnotalreadypoweredon.
Connectthe suppliedUSBstorage device to the USBsocketonthedataloggerfrontpanel.
TheAUXLEDlightwilllightgreenwhilstthedata istransferringtothestorage device.
TheUSBstorage device mustnotberemovedwhentheAUXLEDislitgreen.
Aftera fewseconds(dependentonthesizeofthedatafilestobetransferred)theAUXLEDwillturnoff.
Alldatathathas notpreviouslybeentransferredwillbetransferredandtheUSBstorage devicecanberemoved.
󱛻󱛼󱛽 Do not remove the USB storage device while the green AUX LED is lit
The following USB storage device file formats are supported, exFAT, FAT32 and NTFS.
Downloading data is an automatic process whereby only data that has not previously been downloaded will be
transferred.
If it is necessary to download a previously saved dataset, please refer to the USB prepare tool in Appendix 11.1.

© 2022 GeoSLAM Ltd 17 ZEB Horizon User Guide v4.0
10. Data Processing
ItisnecessarytoprocesstherawdatacollectedbytheZEB HorizonusingGeoSLAM’s 3DSLAMalgorithm (GeoSLAM
Beam)to generate a homogenous 3Dpointcloud of the environmentthathas been mapped. This isdoneusingthe
GeoSLAM Connect processing software.
10.1. GeoSLAM Connect Software
The installation of GeoSLAM Connect software is described in a separate User Guide and can be found on GeoSLAM
Academy.
Beforetherawdatacanbeprocessed,itmustbeextractedfromtheZEB Horizon datalogger as described in Section 9.
Start theConnect Viewer application and click on the “Add New Project”icon in the top left. Choose a suitable project
name and click “Create Project”.
Figure 10-1
Drag the previously saved dataset into the window and click “Import”.

© 2022 GeoSLAM Ltd 18 ZEB Horizon User Guide v4.0
Figure 10-2
ThedatasetwillbeimportedintoGeoSLAMConnect andwillautomaticallystarttoprocess.Afterapproximatelythe same
timeittooktocapturethedataset,theprocessingshouldbecompleteandthe point cloud will beavailable forviewing and
post ‐ processing asshown below:
Figure 10-3
Toview the point cloud, double click on the resultant .laz file name in the dataset list; this will appear in the Connect
Viewer.

© 2022 GeoSLAM Ltd 19 ZEB Horizon User Guide v4.0
Figure 10-4
Further instructions for data export and the other post processing options in GeoSLAM Connect are described in the
separate GeoSLAM Connect User Guide and on GeoSLAM Academy.