GeoSlam ZEB-REVO User manual

ZEB-REVO Laser Scanner Manual
Source: GeoSLAM ZEB-REVO 3D Laser Scanning System
Created by: Felix van Leuven, Agnieszka Lisonek and Eline Rentier
Supervisor: Dr. W. M. (Thijs) de Boer
Course: Environmental Measuring Techniques (5264ENMT6Y)
Date: 26-03-2020
University of Amsterdam

ZEB-REVO Laser Scanner manual
Last updated March 27 2020 Page 2of 13
Contents
Important information ............................................................................................................................ 3
Content of the box .................................................................................................................................. 3
Quick Start Guide .................................................................................................................................... 4
Best practice guidelines......................................................................................................................... 11
Setting up 3D markers........................................................................................................................... 12
References............................................................................................................................................. 13

ZEB-REVO Laser Scanner manual
Last updated March 27 2020 Page 3of 13
Important information
Official name laser scanner: ZEB-REVO hand held laser scanner & RT data processing unit
For this manual the ZEB-REVO RT User’s Manual v1.0.1 by GeoSLAM Ltd 2017 was consulted. We
recommend consulting this manual in case you run into problems that are not specified by this manual.
http://download.geoslam.com/docs/zeb-revo/ZEB-REVO%20User%20Guide%20V3.0.0.pdf
Content of the box
1. ZEB-REVO RT Processing Unit
2. ZEB-REVO RT battery
3. ZEB-REVO hand held laser scanner
4. ZEB-REVO main cable
5. ZEB-CAM cable (compatible with RT
Processing Unit)
6. ZEB-REVO car charger
7. Magnetic mount for tablet or cell phone
8. Ethernet cable
The chargers are not in this photo because they
are not needed in the field. Charging the
batteries takes 8-10 hours per battery and can
therefore not be done ‘on-the-go’.

ZEB-REVO Laser Scanner manual
Last updated March 27 2020 Page 4of 13
Quick Start Guide
Setup
1. Make sure that the ZEB-REVO RT Processing Unit batteries are fully charged. The charging
time is 8-10 hours per battery!
2. Insert the battery into the ZEB-REVO RT Processing Unit. Make sure you hear the click!
3. Connect the ZEB-REVO main cable to the 12 way socket on the side of ZEB-REVO hand held
laser scanner. Make sure that the red dot on the cable aligns with the red dot on the socket!

ZEB-REVO Laser Scanner manual
Last updated March 27 2020 Page 5of 13
4. Connect the other end of the ZEB-REVO main cable to the 12 way socket on the RT data
processing unit. Make sure the red dot on the cable aligns with the gap in the socket!
Connecting ZEB-REVO to your laptop (wireless)
1. Turn on your laptop.
2. Switch on the RT data processing unit by pressing the switch for a second on the front panel.
The LED on the button will go on and turn green.
3. Wait around 30 seconds
4. Go to the wifi settings on your laptop (make sure that your laptop’s wifi adapter is turned
on).

ZEB-REVO Laser Scanner manual
Last updated March 27 2020 Page 6of 13
5. Find the (SSID) geoslam-rt wifi network and connect to it using the following password:
zebedee12
SSID: geoslam-rt
Password: zebedee12
6. If you can’t find the geoslam-rt network, wait a little longer and search again.
7. Open your web browser on your laptop and go to the following link: http://192.168.102.2/
8. The GeoSLAM logo will be displayed briefly while the connection is made. The REVO hand held
laser scanner should not be turned on yet!
9. Press NEW SCAN.
10. Enter a new scan name

ZEB-REVO Laser Scanner manual
Last updated March 27 2020 Page 7of 13
11. Position the REVO hand held laser scanner (should not be turned on yet!) in a stationary
position (you can either lay it down on a stable surface or hold it steadily) at your BASE.
12. After entering the scan name, there will be a message saying: Starting, please keep the system
still.
13. If all went well, the system will initialize for approximately 10 seconds. The REVO hand held
laser scanner must remain stationary during this period (don’t turn it on yet).
○If an error occurs saying that you should hold the device still and that initialization
failed; make sure you put the ZEB-REVO hand held laser scanner on its back on a stable
surface and try again. Also make sure that the hand held laser scanner is turned off.
○If you still get the same error message, turn off the RT data processing unit and turn it
on again. Go back to step 3.
Start scanning
14. When the initialization finishes you should see a screen that says: Scan Started.

ZEB-REVO Laser Scanner manual
Last updated March 27 2020 Page 8of 13
15. Start the REVO hand held laser scanner by pressing the button on the side of the hand held
laser scanner to start the scanner rotation and commence the survey.
16. Conduct the scan using the ‘best practice guidelines’chapter of this manual.
17. When the survey is complete, position the ZEB-REVO scanner in approximately the same
position as used for initialization (go back to BASE) and click the STOP button on the display
screen then press the button on the hand held laser scanner button to stop the scanner
rotation.
18. The display will indicate that Global Optimization is being performed. This might take a while
depending on how long your survey took.

ZEB-REVO Laser Scanner manual
Last updated March 27 2020 Page 9of 13
19. Once complete, the display will revert to the Start screen ready for the next scan.
20. If you want to repeat the scan, or start a new scan, simply position the REVO in a stationary
position, click the NEW SCAN button and enter a scan name when prompted.
If you want to quit, shut down the system by pressing and holding the ZEB-REVO RT Processing
Unit power button for approximately 4 seconds.
Previewing and downloading the scan data
Once a scan has been completed a preview of the resultant point cloud can be displayed by clicking
the Preview icon (P) in the bottom left corner of the screen. The preview file is decimated (9% of points)
coloured by Shading (ambient occlusion grey scale).
-The slider bar on the left of the Preview display can be used to vertically clip the displayed
point cloud.
-A full list of the processed files can be shown by clicking the Folder icon in the bottom left
corner of the screen.

ZEB-REVO Laser Scanner manual
Last updated March 27 2020 Page 10 of 13
A file browser resembling GeoSLAM Hub is displayed. Files can be downloaded to the connected
device by clicking on download, and selecting file type, .geoslam or .ply. The .ply file is the 9% shaded
file used in the previewer.
Deleting data sets
It is recommended that data sets are deleted from the RT data processing unit after they have been
downloaded to free up space for subsequent scans. The RT data processing unit should not be used
as a data storage device.
Data sets can be deleted one at a time by clicking the DELETE button under the target data set on the
DATA page. To delete more than one file at a time select the DELETE page, check the check box next
to the target data sets and click the DELETE button. For post-processing using the GeoSLAM Hub
software consult the ZEB-Revo RT User’s Manual or the Workflow for GeoSLAM.

ZEB-REVO Laser Scanner manual
Last updated March 27 2020 Page 11 of 13
Best practice guidelines
The Environment: In a feature poor environment (e.g. an open field) you’ll have to augment the
environment with additional features (e.g. boxes, parked vehicles).
○These features should be repeatedly scanned as the operator passes through the
environment. This can be done by repeatedly pointing the ZEB-REVO in the direction
of the feature. This is particularly important when the feature is at a long range
(>10m).
○For a feature to be significant the ratio of its size to its range must be approximately
1:10, e.g. at a 5m range for a feature to be significant it must be >0.5m in size.
○Avoid scanning moving objects (e.g. passing pedestrians or vehicles).
Loop closure: Make sure to close a loop (when starting at BASE always loop back to the same base).
○The SLAM algorithm used to process the raw scan data into a point cloud uses a
method that determines a current position by using a previously known position.
○It is required that the operator starts and ends 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.
Walking Speed: It is recommended that data is captured at a slow walking pace to ensure good
coverage and high resolution data. If the forward movement is too fast there may not be enough
repeat scans of features for the SLAM algorithm to be able to process the raw laser data into a point
cloud.
Minimum and Maximum Range: Data within a small range value is not processed (by default) to
eliminate data from the scanner operator being included in the final point cloud. Avoid close proximity
to walls and ceilings.
○It is recommended that the range is kept to less than 10m where possible to ensure
good point density and to assist the SLAM algorithm.
Duration of Scanning: Make sure to save your data before the battery runs out! You can scan for about
15 - 20 minutes before the battery dies. It is recommended to stop the scan and save the data after
about 15/16 minutes because saving itself also takes several minutes. If you do not save your scan in
time, all data will be lost.
○For very large surveys the project should be broken down into more than one scan
mission. This is to avoid very large file sizes as well as reduce any drift that might be
created in the data. At a slow walking pace, it is possible to cover about 1000 m of
survey distance.
Moving Objects in the Environment: In some feature poor environments where 3D structure is lacking
in some dimensions, moving objects can have a great impact on the scanning results.

ZEB-REVO Laser Scanner manual
Last updated March 27 2020 Page 12 of 13
○It is best practice not to have other people closely accompany the operator during the
scan acquisition as they will be scanned throughout the map leaving streaks of data
and potentially corrupting the solution in feature poor environments.
○If people are required to follow the operator they should ideally maintain a distance
of 20m or more from the operator.
Setting up 3D markers
If you have a field area that is poor in 3D features, you should consider putting up 3D markers in your
area. This can be done as follows:
1. Consult Figure 2 for an example of how to set-up your survey area. A’s are (drone) markers,
B’s are 3D markers. The BASE acts as a 3D marker and as a point of departure and return for
every loop. All markers should remain stationary throughout the survey! These markers are
needed for the scanning algorithm.
21. Make sure that you have plenty of 3D markers in the area you’ll be scanning; all
measurements should contain at least one 3D marker in close proximity to the path taken. In
figure 2 the 3D markers (B’s) were placed in the centre of each loop.
22. Clearly mark the borders of the area you’ll be scanning (e.g. with drone markers). This will
make it easier to follow the path that you planned. In figure 2 the borders were marked by
A’s in every corner and in between.
23. Put a 3D marker in the centre of the area you’ll be scanning. This will act as your BASE that
you’ll constantly loop back to (every loop should start and end at the base).
24. Place (3D) markers on strategic spots that can help you follow the route you planned. In
figure 2 drone markers (A’s) were used to define the borders of the survey area. Furthermore,
they serve as visual cues for the path to be followed. 3D markers (B’s) in the centre of the loop
also make it easier to follow a predefined path.

ZEB-REVO Laser Scanner manual
Last updated March 27 2020 Page 13 of 13
References
GeoSLAM ZEB-REVO 3D Laser Scanning System [Online image]. (2020). Opti-cal Survey Equipment.
https://surveyequipment.com/media/catalog/product/cache/1/image/903be06a881aa18fc50d3dc9
6e8b9fba/g/e/geoslam-zeb-revo-a_1.jpg?1534331962