Ultra High Performance 3D Laser Scanner

RIEGL VZ-400i
• high laser pulse repetition rate of up The RIEGL VZ-400i is a cutting-edge 3D Laser Scanning System
to 1.2 MHz which combines a future-oriented, innovative new processing
• high speed data acquisition with architecture and internet connectivity with RIEGL’s latest wave-
up to 500,000 measurements/sec form processing LiDAR technology.
• eye safe operation at Laser Class 1
• wide field of view 100°x360° This real-time data flow is enabled through dual proces-
• range up to 800 m, accuracy 5 mm sing platforms: a dedicated processing system for simulta-
• high accuracy, high precision neous acquisition of scan data and image data, waveform
ranging based on echo digitization, processing and system operations, and a second proces-
online waveform processing, and sing platform which enables automatic on-board registration,
multiple-time-around processing
geo-referencing, and analysis to be executed in parallel. The
• innovative processing architecture
for data acquisition and simulta- VZ-400i provides an integrated 3G/4G LTE modem, Wi-Fi, and
neous geo-referencing in real-time Ethernet communications hardware.
• automatic on-board registration With its integrated orientation sensor (MEMS IMU, compass, and
• NEW simultaneous image and barometer), the VZ-400i’s up to 1200 kHz pulse repetition rate
scan data acquisition can be fully utilized in many environments and orientations. The
• user-developed apps via system provides a high range of flexibility by supporting numerous
python software external peripherals and accessories via its integrated USB ports
• cloud connectivity via Wi-Fi and and stable mounting points.
3G/4G LTE
• fully compatible with the
RIEGL VMZ Hybrid Mobile
Laser Mapping System Typical applications include
• multiple target
• As-Built Surveying
capability
• Architecture & Facade Measurement
• optional waveform
• Archeology & Cultural Heritage
data output
Documentation
• orientation sensor • Building Infrastructure Management (BIM)
for pose estimation
• Forensics & Crash Scene Investigation
• integrated GNSS receiver • City Modeling
• Tunnel Surveying
• Civil Engineering
• Forestry
• Research
• Monitoring

visit our website

www.riegl.com

Terrestrial Laser Scanning Data Sheet

 RIEGL VZ®-400i Optional Equipment and Software

Camera Option
A high-precision mount enables the integration of an optional DSLR camera. The camera can be easily integrated
into the mount by means of two screws. Precise position and orientation of the camera is enabled by three supporting
points. Power supply and a USB interface are provided via the scanner directly. The combination of scanner, software,
and camera results in photorealistic 3D data, exact identification of details, positions, and distance measurements, as
well as a re-creation of any virtual point of view. A new feature enables the acquisition of images simultaneously during
scanning and thus, reduces the time for handling a scan position drastically.

External GNSS Receiver

with Bluetooth Connection
To support precise global scan data registration, the RIEGL VZ-400i offers an interface for a
high-end external third party GNSS receiver that is to be mounted on top of the instrument.
For smooth operation in the field, GNSS data is transferred to the scanner via Bluetooth
transmission or cable.

Lightweight Carbon Tripod

RIEGL offers a lightweight carbon tripod to support a quick and smooth
workflow in data acquisition.

Power Supply
via Rechargeable Batteries
The RIEGL VZ-400i can be connected to the following optionally available
rechargeable batteries:
>> NEW RIEGL Add-On Rechargeable Li-Ion Battery RBLI 2900 (3 X 99 Wh) RIEGL Add-On Rechargeable
Li-Ion Battery RBLI 2900
>> RIEGL Add-On Rechargeable NiMH Battery RBNE 2210 (205 Wh)
>> NiMH Battery (235 Wh) NiMH Battery

Use of other battery types to be discussed with RIEGL support.

RIEGL Add-On NiMH

Rechargeable Battery RBNE 2210
Waveform Data Output Option
The digitized echo signals, also known as full waveform data, acquired by the
RIEGL VZ-400i are the basis for waveform analysis. This data is provided via
the optionally available waveform data output and accessible with the associated RIEGL software library RiWAVELib for
advanced research and analysis of digital waveform data samples acquired in multiple-target situations.

RIEGL Software Packages

>> RiSCAN PRO standard processing software
for efficient data acquisition and registration in terrestrial laser scanning
>> RiSOLVE
for automatic registration, colorization, and 2D-map generation
>> RiMINING
optimized workflow for open-pit mining

2 Copyright RIEGL Laser Measurement Systems GmbH © 2019– All rights reserved. Data Sheet
 VZ®-i Series Cloud Connectivity

The RIEGL VZ-i Series provides cloud connectivity via either the 3G/4G LTE, Wi-Fi network, or LAN.
The content uploaded to, stored in, and downloaded from the cloud, as well as the appropriate cloud storage provider
or FTP server are user definable. The defined data then is transferred to the cloud after finishing each scan.
Supported cloud storage currently includes Amazon S3 and Microsoft Azure.

Cloud Storage
(Data stored in VZ-i Series project structure)
Compatible Cloud Storage Options:
Amazon S3
FTP Server
Microsoft Azure

Internet

3G/4G LTE
3G/4G LTE data Ethernet
Wi-Fi email Wi-Fi
e.g. .kml file
e.g. .json file

RIEGL VZ-i Series Laser Scanner

in the field transmits the data
scan after each scan position
position 5

data
smart phone
email
e.g. .kml file
scan
scan scan
e.g. .json file
position 4 scan
position 3 position 2 position 1

tablet

RIEGL VZ-i Series GUI

esri
scan position
overview,
e.g. via ArcGIS Earth - esri

laptop

data upload cloud storage KML: Keyhole Markup Language (.kml file)
selection selection JSON: JavaScript Object Notation (.json file)

Transferable data includes:

>> the scanner‘s position in WGS84 geographic coordinates as *.kml and *.json
>> scan data preview as *.png image
>> thumb-nails of the images as *.jpg
>> scan data as *.rxp
>> image data as *.jpg
>> error messages
Please note: Adequate data transmission bandwidth is required.

Data Sheet Copyright RIEGL Laser Measurement Systems GmbH © 2019– All rights reserved. 3
 RIEGL VZ®-400i Highly Informative Scan Data

RIEGL‘s sophisticated LiDAR technology is the basis for highly informative scan data. Every laser pulse received provides
several attributes in addition to the range measurement information. By using different features and filters provided with
the scanner’s software, this information can be used to significantly improve the informative content of point clouds.

Multi Target Capability - the Basis for High Penetration Capability

Utilizing the pulsed time-of-flight method for laser range measurements, the VZ-400i enables determination of the range
to all targets a single laser pulse is interacting with. Depending on the measurement program used, the maximum
number of targets, which can be detected, is varying (4-15).

r
d

Pulse Shape Deviation Output

Even if the distance between two targets is too short to discriminate between the two echoes, valuable information
about the pulse shape of the return pulse is given. That allows to discriminate whether the return echo originates from a
single target or from two nearby targets. A simple thresholding with respect to the pulse shape information can remove
most of the „invalid“ points and keep only the reliable „real“ targets.

original data automatic selection of „invalid“ points data after elimination of the „invalid“ points
using the pulse shape deviation
attribute information

Calibrated Reflectance Output

This feature allows displaying the scan data colored by range-independent reflectance of the scanned object for
better data classification.

point cloud colored by the point cloud colored by the

range-depending amplitude range-independent reflectance

4 Copyright RIEGL Laser Measurement Systems GmbH © 2019– All rights reserved. Data Sheet
 RIEGL VZ®-400i Highly Informative Scan Data

Rain and Haze Penetration

Using deviation and reflectance filters, range measurements caused by rain drops and haze can be identified,
selected, or deleted, resulting in a clear and clean point cloud of the relevant szene.

scanning in the rain point cloud before filter application automatically cleaned-up point cloud

VZ-400i – a NEW Standard in User-Friendliness

Operation & Remote Control

>> Easy Operation of the RIEGL VZ-400i with the integrated Graphical User Interface (GUI)
via touchscreen.
>> Remote control via RIEGL VZ-i Series App on your device. The GUI of the laser
scanner will be displayed on the screen of your smart device.
Connect localy or from anywhere in the world.
The App is available for iOS (iPhone, iPad, iPad Touch),
Android and Windows PC (32 and 64 Bit).
Download now! RIEGL VZ-i Series App

Scanner Motion Detection

Several pre-defined data acquisition workflows (e.g. Default, Forensics, OneTouch) are available. These pre-defined
workflows allow the operation of the scanner by pushing just one icon on the screen per scan position. Once the tripod
is re-arranged, a new scan position will automatically be generated. Modifications or creations of individual workflows to
meet user specific requirements are possible.

select the appropriate move the scanner to the to start the next scan just press the START-button
scanning parameters next scan position
and start the first scan

User Applications
User developed applications (written in python software language) for further improvement
of processing of surveying missions can be uploaded into the scanner.

RIEGL VMZ Hybrid Mobile Laser Mapping System

Mobilization of the RIEGL VZ-400i
The RIEGL VMZ Hybrid Mobile Laser Mapping System with fully integrated IMU/GNSS
unit supports the VZ-400i scanner for kinematic data acquisition. A well proven
platform design enables quick transition from mobile to terrestrial applications, and
vice versa, without losing system calibration. Flexible installation options and fully
integrated optional cameras complement this user-friendly solution.

Data Sheet Copyright RIEGL Laser Measurement Systems GmbH © 2019– All rights reserved. 5
 Automatic On-board Registration

Matching point clouds of different scan positions (registration), has always been one of the most time-consuming tasks
during the post processing of 3D scanning projects.

registered on-board
during acquisition

38 ScanPos in 40 min

Scan Pattern ”Panorama 50”

scans: 100° x 360°
resolution: 9 mm @ 10m
> 300 mio points

Scan data of a power plant, height scaled with grayscale overlay based on reflection

With two processors on-board, the RIEGL VZ-400i is able to perform different processes in real-time such as automatic
on-board registration in parallel to the scan data acquisition.

Processor 1 Processor 2
• scan data acquisition • conversion of scan data into RIEGL
• simultanous acquisition of data base
photographs during scanning • on-board multiple time around
• pose estimation resolution
(using GNSS/IMU/environment sensors) • registration of scan data as a
background process

first scan next scan background registered

position position process pointcloud

RIEGL RiSCAN PRO / RiSOLVE Software

RiSCAN PRO / RiSOLVE enables a fully automatic registration and colorization of scan data. This stream-lined process
enables an efficient and fast workflow to acquire, register and colorize 3D scan data. With additional tools for filtering,
scene animation and measurements, a rapid turnaround of critical information is enabled.

6 Copyright RIEGL Laser Measurement Systems GmbH © 2019– All rights reserved. Data Sheet
 RIEGL VZ-400i High Speed Data Acquisition

Field Experience
The VZ-400i‘s high performance scanning technology provides high pulse repetition rates and high line scan speeds as
well as user-friendliness, enabling a significant reduction of the scanning time in the field.

1 operator 8 hours 500+ scans

More than 500 scans (50mdeg) of approx. 5 km of downtown streets with adjoining buildings have been taken by just one
operator within 8 hours of full acquisiton time in the field. The mission was executed during night, the data of the whole
scene was acquired by taking individual scan positions with approx. 10 m distance in between.

RIEGL VZ-400i night scan overview of scan positions (colored dots)

scan data detail, reflectance-scaled

Data Sheet Copyright RIEGL Laser Measurement Systems GmbH © 2019– All rights reserved. 7
 Max. Measurement Range RIEGL VZ®-400i

standard clear atmosphere: visibility 23 km

clear atmosphere: visibility 15 km
light haze: visibility 8 km

100 kHz Laser Pulse Repetition Rate 300 kHz Laser Pulse Repetition Rate
900 900
MTA 1

terra cotta
deciduous trees
coniferious trees

construction concrete
dry snow

dry asphalt
wet ice, black tar paper
terra cotta
deciduous trees
coniferious trees

construction concrete
dry snow

dry asphalt
wet ice, black tar paper

800 800

700 700

Max. Measurement Range [m]

Max. Measurement Range [m]

600 600

500 500

400 400
MTA 1

white plaster work, limestone

white plaster work, limestone

300 300

cliffs, sand, masonry

cliffs, sand, masonry

200 200

white marble
white marble

100 100

0 0
0 5 10 15 20 25 30 35 40 45 50 55 60 65 70 75 80 85 90 0 5 10 15 20 25 30 35 40 45 50 55 60 65 70 75 80 85 90

Target Reflectivity [%] Target Reflectivity [%]

600 kHz Laser Pulse Repetition Rate 1200 kHz Laser Pulse Repetition Rate
450 450
MTA 2
terra cotta
deciduous trees
coniferious trees

construction concrete
dry snow

dry asphalt
terra cotta
deciduous trees

wet ice, black tar paper

coniferious trees

white marble
construction concrete

white plaster work, limestone

dry snow

dry asphalt
wet ice, black tar paper

cliffs, sand, masonry

cliffs, sand, masonry

400 400

350 350
Max. Measurement Range [m]
Max. Measurement Range [m]

300 300

250 250
MTA 1
200 200
MTA 2
white plaster work, limestone

150 150

100
MTA 1
100
white marble

50 50

0 0
0 5 10 15 20 25 30 35 40 45 50 55 60 65 70 75 80 85 90 0 5 10 15 20 25 30 35 40 45 50 55 60 65 70 75 80 85 90

Target Reflectivity [%] Target Reflectivity [%]

The following conditions are assumed: MTA (Multiple Time Around) zones:
• flat target larger than the footprint of the laser beam MTA 1: no ambiguity / 1 pulse „in the air”
• perpendicular angle of incidence MTA 2: 2 pulses „in the air”
• average brightness
• ambiguity resolved by post processing within RiSCAN PRO

8 Copyright RIEGL Laser Measurement Systems GmbH © 2019– All rights reserved. Data Sheet
 Operating Elements and Connectors RIEGL VZ®-400i

WLAN antennas (2x, female)

GNSS antenna

3G/4G LTE antennas (2x, male)

carrying handles (2x)

high-resolution (800x480px)
5” color display with touchscreen

346

Ø 172

206
All dimensions in mm.

mounting threads inserts (2x)

Communication and Interfaces
mounting points (3x)
• LAN port 10/100/1000 MBit/sec for external digital camera

• integrated WLAN interface with high-gain connector for external

MIMO antennas GNSS receiver
• integrated multi-mode cellular module interface for external camera:
available for different regions1) with GigE, USB, power supply,
MIMO 3G/4G LTE antennas trigger, exposure time
• GigE and USB for connecting connector for GNSS antenna
an external digital camera (internal receiver)
• connector for GNSS antenna desiccant cartridge
• two external power supply ports
WLAN antennas (2x)
• connector for external GNSS receiver and
synchronization (1PPS) Nano SIM card holder

• Bluetooth connection to GNSS receiver 3G/4G LTE antennas (2x)

1) available for North America, Europe/APAC, Japan, or South America/APAC

Scan Data Storage

SDXC card slot for
• internal 1 TB SSD (Solid State Disc) external storage devices
900 GB useable
USB connector
• external storage devices
(SDXC cards up to 512 GBytes or
USB flash drives) connectors for power supply
and LAN interface
10/100/1000 MBit/sec,
power off/on button

Data Sheet Copyright RIEGL Laser Measurement Systems GmbH © 2019– All rights reserved. 9
 Technical Data RIEGL VZ®-400i
Laser Product Classification Class 1 Laser Product according to IEC 60825-1:2014
The following clause applies for instruments delivered into the United States:
Complies with 21 CFR 1040.10 and 1040.11 except for conformance with
IEC 60825-1 Ed.3., as described in Laser Notice No. 56, dated May 8, 2019.

Range Measurement Performance 1)

Measuring Principle / Mode of Operation time of flight measurement, echo signal digitization, online waveform
processing, multiple-time-around processing, full waveform export
capability (optional) / single pulse ranging

Laser Pulse Repetition Rate PRR (peak) 2) 3) 100 kHz 300 kHz 600 kHz 1200 kHz
Effective Measurement Rate (meas./sec) 2) 42,000 125,000 250,000 500,000
Max. Measurement Range 4)

natural targets  ≥ 90 % 800 m 480 m 350 m 250 m
natural targets  ≥ 20 % 400 m 230 m 160 m 120 m
Minimum Range 1.5 m 1.2 m 0.5 m 5) 0.5 m 5)
Max. Number of Targets per Pulse 6)
15 15 8
4
Accuracy 7) 9)
5 mm
Precision 8) 9) 3 mm
Laser Wavelength near infrared
Laser Beam Divergence 0.35 mrad 10)
1) With online waveform processing. 5) Minimum range specified for vertical zenith angles from 30 deg to 120 deg, resp. 90° vertical field of view.
2) Rounded values. 6) If more than one target is hit, the total laser transmitter power is split and, accordingly, the achieveable
3) In order to minimize multiple-time-around issues it is crucial to range is reduced.
carefully select the laser pulse repetition rate according to the 7) Accuracy is the degree of conformity of a measured quantity to its actual (true) value.
application in question. 8) Precision, also called reproducibility or repeatability, is the degree to which further measurements show
4) Typical values for average conditions. Maximum range is specified the same result.
for flat targets with size in excess of the laser beam diameter, 9) One sigma @ 100 m range under RIEGL test conditions.
perpendicular angle of incidence, and for atmospheric visibility 10) Measured at the 1/e2 points. 0.35 mrad corresponds to an increase of 35 mm of beam diameter
of 23 km. In bright sunlight, the max. range is shorter than under per 100 m distance.
overcast sky.

Scanner Performance Vertical (Line) Scan Horizontal (Frame) Scan

Scan Angle Range total 100° (+60° / -40°) max. 360°
Scanning Mechanism rotating multi-facet mirror rotating head
Scan Speed 3 lines/sec to 240 lines/sec 0°/sec to 150°/sec 12)
Angular Step Width 11)   (vertical),   (horizontal) 0.0007° ≤   ≤ 0.6° 0.0015° ≤   ≤ 0.62°
between consecutive laser shots between consecutive scan lines
Angle Measurement Resolution better 0.0007° (2.5 arcsec) better 0.0005° (1.8 arcsec)

Orientation Sensors integrated 3-axis accelerometer, 3-axis gyroscope,

3-axis magnetometer (compass), barometer
GNSS Receiver integrated L1, concurrent reception of GPS, GLONASS, Beidou
Laser Plummet integrated
Internal Sync Timer integrated, for real-time synchronized time stamping of scan data
Scan Sync (optional) scanner rotation synchronization for operating several scanners
Waveform Data Output (optional) providing digitized echo signal information for specific target echoes
Cloud Storage Amazon S3, FTP-Server, Microsoft Azure
Automatic On-board Registration automatic scan data registration as background process
11) Selectable. 12) Frame scan can be disabled, providing 2D scanner operation.

General Technical Data

Power Supply Input Voltage / Consumption 11 - 34 V DC / typ. 65 W (max. 83 W)
External Power Supply up to two independent external power sources can be connected
for uninterrupted operation, in addition to the RIEGL add-on NiMH battery
Main Dimensions 206 mm x 346 mm (width x height)
Weight approx. 9.7 kg (with antennas)
Humidity max. 80 % non condensing @ +31°C
Protection Class IP64, dust- and splash-proof
Temperature Range
Storage -10°C up to +50°C
Operation 0°C up to +40°C: standard operation
Low Temperature Operation 13) -20°C: continuous scanning operation if instrument is powered on
while internal temperature is at or above 0°C and still air
-40°C: scanning operation for about 20 minutes if instrument is powered on
while internal temperature is at or above 15°C and still air
13) Insulating the scanner with appropriate material will enable operation at even lower temperatures.

RIEGL
Laser Measurement Systems GmbH RIEGL USA Inc. | info@rieglusa.com | www.rieglusa.com
Riedenburgstraße 48 RIEGL Japan Ltd. | info@riegl-japan.co.jp | www.riegl-japan.co.jp
3580 Horn, Austria RIEGL China Ltd. | info@riegl.cn | www.riegl.cn
Phone: +43 2982 4211 RIEGL Australia Pty Ltd. | info@riegl.com.au | www.riegl.com
office@riegl.co.at | www.riegl.com

www.riegl.com
Copyright RIEGL Laser Measurement Systems GmbH © 2019– All rights reserved. Data Sheet, RIEGL VZ-400i, 2019-11-22
Use of this data sheet other than for personal purposes requires RIEGL’s written consent.
This data sheet is compiled with care. However, errors cannot be fully excluded and alternations might be necessary.