Capturing reality on the go

在徕卡混沌之间,我们致力于提供the best surveying technology and shape smart change by creating products that are mobile, agile and efficient – just like thePegasus:Backpack.

In this new Expert Insights Section, Alessandro Nuzzo, Product Line Manager for Mobile Mapping at Leica Geosystems, explains in detail the technology, workflow and applications for this wearable reality capture solution.

What is the Leica Pegasus:Backpack?

Pegasus：背包是一种破坏性的可穿戴工具，使用户能够更快地捕获现实，在现场花费更少的时间，同时将其业务模型与新应用程序区分开，并在何处以及如何捕获现实中。

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您能解释Pegasus的集成技术：背包吗？

核心技术以导航为中心。我们区分室内和室外任务。对于户外，集成多个频段GNSS接收器利用来自全球各地的所有可用GNSS卫星，以在定位准确性方面获得很高的Sigma信心。此外，我们拥有惯性测量单元（IMU），该测量单元由三个陀螺仪和三个加速度计组成，可以在步行和收集数据时补偿运动。

For indoor missions, we rely on the IMU and the LiDAR Simultaneous Localisation and Mapping (SLAM) algorithm. While scanning and creating a map, SLAM is able to detect the environment and calculate the trajectory based on LiDAR measurements. The Pegasus:Backpack provides a robust trajectory even in GNSS-denied areas.

除轨迹外，我们还有两个激光雷达，每秒收集600,000点和五个自动曝光的高动态摄像机，每个摄像头具有4 mpix分辨率 - 在LIDAR上启用特征提取或超过准确的光程序测量。所有数据都存储在一台集成的多核工业PC中，并带有一台稳定的固态驱动器存储，以便轻松节省任务。

The system is powered with four hot-swap batteries extending the four-hour operational time to any desired length by simply swapping discharged batteries with charged ones on-the-fly. This technology is housed in a carbon fibre unibody chassis that is highly ergonomic for comfortable wearing.

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How did you combine Geosystems technology with Hexagon business technology to create this wearable reality capture system?

We started with a strong experience matured in Pegasus:Two, where we knew how to precisely manage GNSS and IMU data to calculate the trajectory and synchronise the LiDAR and imagery into a seamless data output. We set our target high and wanted the Pegasus:Backpack to become the first commercially wearable and indoor capable system available.

Within Hexagon, we strongly leveraged our Novatel know-how. Together, we tailored the GNSS/IMU calculations and developed our Hexagon SLAM solution. Expertise from different teams within Hexagon led us to make the right decisions.

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What makes the Pegasus:Backpack special?

It is clear – the product’s disruptive characteristics. Starting from the futuristic product design to the use of carbon fibre to reduce weight and increase the ergonomic. Continuing with the embedded technology, dual LiDAR, five high dynamic cameras, IMU and SLAM navigation technology, it is a unique data collection tool for the modern surveyor.

The combination of these distinguished characteristics makes the Pegasus:Backpack extremely versatile for outdoor and indoor applications enabling customers to spend less time on the field, differentiate their business model, and stay competitive in a consolidating market.

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Can you explain the workflow (data acquisition, post processing, extract information, export to CAD) of the Pegasus:Backpack?

The precondition is to have a master GNSS station within 15 kilometres from the data collection location or HxGN SmartNet coverage. No surveyor skills are required for the data collection – it can be simply done by a trained operator.

The operator turns on the system and connects the delivered tablet over Wi-Fi or LAN to the internal PC where the data acquisition module runs – this is the dashboard for data acquisition. Before starting capture, the operator needs to initialise the system, first statically, and then by walking a couples of minutes. After the position is determined, he starts data collection and has full control by the tablet, where he can monitor in real time the images, LiDAR units and GNSS signal strength. Once the mission is completed, the operator does a static end alignment phase and closes the mission.

后处理工作流程高度自动化。通过简单地将USB密钥插入Pegasus：背包，可以下载所有数据并准备好发布后处理。运营商可以预选可交付成果并启动后处理计算 - 无需监督该过程。与SLAM算法接口的强大工具直接嵌入到后处理软件中。它可以在处理和完成数据集之前进行可视化，并在需要时校正SLAM导航。

All industry standard file formats, like LAS, PTS, and E57, are supported and can be exported. Depending on the software solutions used for feature extraction, the Pegasus Software Suite natively produces 3D point clouds and images for ESRI ArcMap or Autodesk AutoCAD.

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对于哪些应用，可以使用Pegasus：背包？

The system’s flexibility and ease of use is expanding the applications, going from the most common, for example, professional Building Information Modelling (BIM) documentation, surveying, asset collection, underground infrastructure maintenance, disaster recovery, and safety and security, to more digital reality oriented applications, like industrial training, accidents simulation and urban planning.

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What are some of the most interesting applications where you’ve seen the Pegasus:Backpack used?

有很多令人兴奋的应用程序。之一the coolest data collection was in Vars, France, where we provided 3D data for the speed world record attempt in downhill snow mountain biking.

在3,000 m高的情况下，有强风，温度在0摄氏度左右，滑雪者穿着Pegasus：背包：背包，并收集了必要的数据，以计算数字地形模型（DTM），该模型被送入Leica Icon Controled Snow Machine以准备准备速度尝试的理想斜率。

Another very impressive application was the data collection of the Paris sewers- an extremely challenging environment for humans and the equipment. With the Pegasus:Backpack and the optional flashlight module, we collected a never-before-seen perspective – having the city surface with its buildings and streets and the sewers underground structure in one single 3D data set. The flashlight module delivered crystal clear images unveiling all the manual sprayed notes on the walls. This information was never georeferenced and not visible in any cadastral map. Through the images, it was possible to recognise where maintenance was needed to assure a continued public service avoiding unexpected outages.

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What are the customers doing with the data obtained from this wearable reality capture solution?

The Pegasus:Backpack is used to provide multiple, fast and accurate data layers where traditional methods face limits in terms of feasibility, access and costs.

各种客户正在使用城市区域调查的数据，在该调查中，城市中心只能通过步行来访问，并且不受交通或公共交通的关闭。印度的非凡应用是人满为患的城市地区的地图。该项目提供了成千上万个未知小屋的详细的会长地图，向居民提供了地址，姓名和尊严。

Electricity utility companies are collecting the high voltage power lines to map the infrastructure, analyse the cable sag between two electricity poles, and verify if vegetation is obstructing the right-of-way – assuring a high level of network service availability. Others are taking full advantage of the Pegasus:Backpack indoor capability and collecting entire buildings, verifying the as-built in terms of documentation and square metres per room. Recently, Italian civil protection used the Pegasus:Backpack to quickly get an overview and properly plan the recovery of a devastated city in Italy after an earthquake. All these data use cases have in common the advantage of multiples layers of information provided by LiDAR, imagery, and SLAM or navigation.

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The Leica Pegasus:Backpack was recently featured on the BBC’s Italy’s Invisible Cities series. Can you tell us more about how theLeica Pegasus:Twoand the Leica Pegasus:Backpack played a major role in revealing the secrets of these fascinating Italian cities?

It was a fantastic experience working with great professionals. The Pegasus:Backpack and Pegasus:Two were recognised for their ease of use, flexibility, speed and the quality of the data collection they provided. Similar to survey professionals, also in TV shows, production time is related to costs.

当我们在威尼斯捕捉带有飞马的船上的运河时：两天之内，我们在一次捕获中收集了超过10公里的3D点云和数千张图像。我们不必关闭扫描区域，也没有好奇的游客打扰了该系列 - 我们只是在桥下航行，以便能够产生一种新的“运河视图”视角，而传统的捕获方法是不可能的。就车辆和电源独立性而言，灵活性使之有所不同。

In Naples, Florence and Pisa, the challenge was different. As many historical European cities, the city centre is densely populated, closed to traffic, and palaces are obstructing the GNSS signal. In Naples, we collected underground caves, and in Florence and Pisa, we captured indoors. A technology relying only on GNSS/ IMU would not be able to collect data – with the Pegasus:Backpack, it was a home game. By using SLAM, we collected and georeferenced all our data step by step, delivering a comprehensive 3D dataset without the need of scan registrations. By just wearing the 12-kg light Pegasus:Backpack, we captured within 15 minutes the complete spiral staircase of the Pisa Tower with its 293 steps.

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How is the R&D mobile mapping team preparing for new industry trends and integrating new technologies?

Technology cannot be seen only as hardware or sensor integration. Of equal importance is the related software workflow and processing speed. It is there where we will focus and decide if additional information layers are needed to develop the right answer to meet market needs– a layer of information that predicts the accuracy and helps users deliver the highest accuracy, before even leaving the office.