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Scanning in motion – ZEB1
handheld mobile 3D laser scanner
Information from 3D Laser Mapping

With its origins in robotics, the ZEB1 handheld mobile 3D laser scanner is revolutionising the mobile
mapping sector. The scanner was developed by Australia's Commonwealth Scientific and Industrial Research
Organisation (CSIRO) to meet the need for a balanced combination of accuracy, range, resolution, field of
view, operating conditions, cost, weight, power consumption and complexity.

T
he ZEB1 scanner consists of
a laser scanning head with
an integrated IMU (inertial
measurement unit) attached to
a handle by a spring – winning it
colourful nicknames such as Zebedee
and the wobbler. Weighing in at only
700 g, it is said to be the lightest, most
portable laser scanning unit on the
market (see Table 1).
Traditional mobile mapping systems
consist of a combination of GPS, high
quality inertial measurement units
(IMU) or tripod mounted tracking
systems. However, these systems
cannot provide accurate data in areas
with no GPS (e.g. underground mines,
buildings, forests). In addition, these
systems need to be mounted on a
stable platform to reduce the motion
error due to vibrations and rotations.
With these limitations in mind, the
ZEB1 handheld mobile mapping laser
scanner was developed to rapidly
collect data in areas with no GPS, and
to use motion as an integral part of the
scanner function rather than let it be
detrimental to the data collection.
As the operator moves through the
environment, the scanner which has a
2D scanning plane oscillates about the
spring resulting in a 3D field of view.
Using GeoSLAM proprietary software,
Mobility Scanner can be taken wherever you walk
Hard-drive and battery sufficient for a full day of operation
Can be used to scan stairways and complex terrain
700 g
Versatility Actuating motion (rotating or nodding)
Trawling motion (statically mounted and painted across the environment)
Limited training needed
Data Automatically processed in the same time it took to capture
processing Online software as a service with pay-as-you-go account
No large software charges
No recurring annual software maintenance fees
Methodology Scan at normal walking pace
Walk in closed loops
Table 1: Features of the ZEB1 handheld mobile scanner.
the trajectory is used to project the been used by the Australian Technology
raw range measurements into a Park, the World Forum, The Hague, as
globally consistent 3D point cloud. The well as security services re-mapping
software uses SLAM (Simultaneous buildings for change management
Localisation and Mapping) technology before significant events and building
which allows for self-registration of maps for firefighters and responders.
the point cloud using features mapped Other applications include crime scene
in the environment. The ZEB1 data mapping, scanning of important cultural
products are comparable to high sites, decline clearance measurements,
resolution terrestrial laser scanners tunnel convergence and vegetation
but operating at a fraction of the time mapping. The ZEB1 scanner is gaining
and cost. momentum in South African markets,
The ZEB1 has been successfully used having been adopted by companies
to map both indoor (e.g. the Leaning such as Anglo American.
Tower of Pisa) and underground (e.g. Contact Dean Polley,
gold, platinum and diamond mines) 3D Laser Mapping, Tel 012 940-0515,
environments. To date the scanner has dean.polley@3dlasermapping.com

Fig. 1: The ZEB1 handheld mobile 3D laser

scanner. Fig. 2: Laser scan imagery of an underground mine.

4 PositionIT – Jan/Feb 2014