SUCCESS STORY
SLAM-based
Mobile Mapping System

Motion Compensation & SLAM Algorithms aiding
VIAMETRIS has selected the Ellipse-D inertial navigation system to equip the vMS3D, a Mobile Mapping System
which uses the best of inertial, GNSS, and SLAM technologies.

VIAMETRIS is a precursor in thedevelopment of SLAM-based solutions.
Two years ago, the company released theiMS3D, an indoor mapping system basedon the SLAM technology. Capitalizing on
this experience, the company has justlaunched a new solution: the vMS3D,a mobile mapping system combining
the best of inertial, GNSS, and SLAMtechnologies to offer an innovative
solution with attractive performance/
price ratio.

CLIENT

VIAMETRISAPPLICATION

SLAM-based
Mobile Mapping System

THE VMS3D, THE SMARTEST
MOBILE MAPPING SYSTEM
vMS3D looks like a classic Mobile
Mapping System (MMS). It integrates
a 360° camera, a rotating LiDAR, aninternal navigation system with GNSS

receiver. The straightforward automatic
workflow does not show the subtle andyet sophisticated internal computationthat makes it unique. Indeed, thevMS3D is equipped with an additional
LiDAR used for SLAM computation.
After the acquisition, the postprocessing software -named PPiMMSautomatically analyses the situations
where GNSS is sufficient, where inertial
is preferred, or where SLAM is required.

THE BEST OF 3 WORLDS: GNSS,INERTIAL, AND SLAM
The vMS3D solution takes into accountthe advantages and disadvantages ofeach technology, depending on theirconditions of use. When the GNSS
receiver provides reliable data, forPRODUCTEllipse-D Inertial Navigation
System with embedded RTK GNSS
receiverPROJECT

Motion Compensation & SLAM
Algorithms aiding“With an integrated INS like the Ellipse-D, offering a single
communication interface and built-in synchronisation to theGNSS and LiDAR, we have been able to concentrate on ourSLAM expertise“Jérôme Ninot, the Founder of VIAMETRISSUCCESS STORY - SLAM-based Mobile Mapping System
built-in synchronisation to the GNSS andLiDAR, we have been able to concentrateon our SLAM expertise” adds the CEO,before mentioning that less cable isalways a good choice.

ELLIPSE-D, A PARTNER FOR
MANY TASKSELLIPSE-D, THE SMART CHOICE
OF VIAMETRIS

instance in open sky environment, thesolution simply relies on its position. If aGNSS outage or disturbance occurs, thesystem then chooses between inertial or
SLAM-based data.

Already very satisfied with the Ellipse
for his indoor iMS3D, Jérôme Ninot, theFounder of VIAMETRIS, did not look so
far to select an INS for his new innovative
project. “Ellipse INS provides very, very
precise velocity data”, states Mr. Ninot.
The innovative SLAM computation allows
VIAMETRIS to rely on miniature and costeffective inertial sensors while othersystems on the market require higher
accuracy inertial systems. Ellipse sensors
deliver 0.1° accurate attitude. Mr. Ninotalso chose the Ellipse-D model for the allin-one and miniature form factor, and theembedded RTK GNSS receiver. “With anintegrated INS like the Ellipse-D, offeringa single communication interface andPosition computed from SLAM ispreferred in dense environments wheresurrounding objects are very diverseand close, such as in urban canyons orforests. SLAM capabilities are limitedin environments where objects are too
far or not distinguishable. Velocities andorientation information provided by theInertial Navigation System (INS) are thenable to assist the navigation in all thecases where GNSS and SLAM are limited.
Performance can also be improved
with the use of odometer, and groundcontrol points.

Hélène LEPLOMB
SBG Systems“Ellipse INS provides very,very precise velocity data”
Jérôme Ninot, the Founder of VIAMETRISELLIPSE-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 – May 2017 – All rights reserved © 2017 SBG Systems

vMS3D, the Mobile Mapping System from VIAMETRIS

Integrated into this innovative solution,
the Ellipse-D performs several tasks.
First, it provides roll and pitch toconstraint all LiDAR data, so the point
cloud is referenced at ground level.
Secondly, Ellipse-D turn rates are very
helpful, especially when an abrupt changeof direction occurs. Indeed, orientationcompensation is required between twoscans when the LiDAR is in motion.
Finally, Ellipse-D fuses in real timeinertial and GNSS information to provide
excellent velocity measurements whichare also very important to continuously
assist vMS3D internal algorithms.