SUCCESS STORY
Backpack-based Mobile Scanning System

SLAM Computation Aid & Georeferencing
VIAMETRIS completes its product range with a backpacking-based scanning systemcalled the “bMS3D-360”, and continues to rely on SBG Systems’ expertise in inertial
navigation.

It was a dream, expressed by numerous
surveyors and GIS professionals: abackpack containing a full scanningsystem able to work in both outdoor
and indoor environments. This wish now
comes true thanks to VIAMETRIS’ uniquehigh expertise in SLAM technology.
The company has been developing
scanning systems for more than 10years, including the iMS3D, a full indoor
mapping system, and the VMS3D, a carbased mapping system. Capitalizing on
this expertise, the company adds thebMS3D-360 to their exceptional offer.
CLIENT

VIAMETRISAPPLICATION

Backpack-based Mobile Scanning
SystemPRODUCT

Ellipse-D Inertial Navigation
System with embedded RTK GNSS
receiver
PROJECTSLAM computation aid & point
cloud georeferencing

BMS3D-360, THE BACKPACKBASED MOBILE SCANNING
SYSTEM
The bMS3D-360 has been designed forthe most challenging environments. It
embeds two Velodyne LiDAR sensors,
a 360 Lady-bug camera, the Ellipse2-D

the SBG inertial navigation system withinternal L1/L2 GNSS receiver, and acomputer.
The workflow is simple. The surveyor
starts the system, checks on a tablet
that the GNSS and inertial information
are computed, and starts the survey;
all sensors data are logged into theon-board computer. Sensors aresynchronized with the Ellipse2-D anddated on the UTC time. Back at theoffice, the user launches the INS/GNSS
post-processing software to increaseorientation and position accuracy, andthen uses the VIAMETRIS software
to georeference and colorize the pointcloud. Collected data are ready to beimported into the most common design
software. This workflow (from collectionto plan drawing) is quickened by 7 times
than a traditional method. There is nodata missing; the point cloud can be“We have always relied on these robust inertial sensors“
Jérôme Ninot, Founder of VIAMETRISSUCCESS STORY - Backpack-based Scanning Systemused for further measurements, meaning an economy of time
and travel expenses.
Additionally to the bMS3D-360 proven performance, some details
make the difference on the market, such as the 360 camera
located on a retractable pole for a larger field of view when
deployed, and a higher security when retracted (some roofs canbe very low, in parking lots for example). It is the only backpack tooffer such a camera which greatly simplifies the treatment work.
When navigating in the point cloud, the user opens a uniquepicture of the 360° scanned environment instead of looking at 4
different camera points of view.

ELLIPSE2-D, THE RTK INERTIAL NAVIGATIONSYSTEM TO AID THE SLAM COMPUTATIONThe Ellipse2-D is a very compact inertial navigation system
integrating an L1/L2 GNSS receiver. This industrial-grade INS
computes roll, pitch, heading aswell as position thanks to theembedded
ExtendedKalmanFiltering.

heading robust. Same story for the use of the GNSS receiver
which provides absolute positioning to the point cloud as well as
altitude constraint. When the GNSS faces sources of disturbance,
the INS maintains the trajectory were the SLAM technology
is limited (a parking lot for example, where the LiDAR has noclose object to measure). Jérôme Ninot, Founder of VIAMETRIS
explains this choice: “It has been years now that we work with
SBG Systems and the Ellipse Series in particular. We have always
relied on these robust inertial sensors, so when it came to choose
an INS/GNSS system for our back-pack, we were glad that theEllipse2-D was already integrating a GNSS receiver.” It is always
a gain of time not to integrate an additional equipment, to insist
Jérôme.

Hélène LEPLOMB, SBG Systems
April 2018

In real-time, Ellipse2-D orientation
data are used to correct theequipment attitude and help theSLAM computed heading. Indeed,
if the SLAM-based heading isprovided at 20 Hz, the inertialbased heading is delivered at
200Hz. Between two SLAM
information, the INS keeps theWhat is SLAM?

ELLIPSE-D KEY FEATURESABOUT VIAMETRIS» 0.1° Roll & Pitch, up to 0.2° GNSS
Heading using two antennas

Founded in 2007, VIAMETRIS research anddevelopment team is specialized in image and signal
processing, artificial intelligence, and robotics. Afterdeveloping an expertise in the construction market
with a mobile 3D scanner, VIAMETRIS is now
focused on designing 2D and 3D mobile mapping
systems combining precision and ease-of-use while
reducing execution time.

» Internal Survey-grade GNSS receiverwith RTK and Post-processing
capabilities» Compact and cost-effective solution

MORE INFO: http://www.viametris.com

www.sbg-systems.com

SBG Systems EMEA (Headquarters)
Phone: +33 1 80 88 45 00
E-mail: sales@sbg-systems.com

SBG Systems North America
Phone: +1 (657) 845-1771
E-mail: sales.usa@sbg-systems.com

V1.0 – April 2018 – All rights reserved © 2017 SBG Systems

SLAM technology stands for Simultaneous Localization And Mapping, a process whereby an equipment creates a map of its surroundings,
and orients itself properly within this map in real time.