Leica-GS18 I - Introduction-And-How-To-Use

Paul Dainty
Leica GS18 I - Introduction and how to use
In this course you will learn about the Leica GS18 I GNSS RTK rover. The course will introduce the
GS18 I, show the bene ts of using it, show how to capture data with it and show how to create
points onboard and in the of ce.
Course Welcome
Lesson 1 - Introducing the GS18 I
Lesson 2 - How the GS18 I works
Lesson 3 - Bene ts of the GS18 I
Lesson 4- Capturing an image group
Lesson 5- Measuring points in images
Lesson 6- Measuring in images using Leica In nity
Lesson 7- Quality of capturing and measuring in images

Course quiz
Lesson 1 of 9
Course Welcome
Paul Dainty
In this course you will learn...
What the GS18 I GNSS RTK rover is
How the GS18 I works
The bene ts of using the GS18 I
How to use it to capture data
How to create points onboard and in the of ce
C O NT I NU E
Language
Course languages
Leica Geosystems online learning is created in English.

Some courses have been translated to other languages such as Chinese, German, Spanish and Korean.
If you wish to translate a course into your own language, this is certainly possible - please contact
alastair.green@leica-geosystems.com
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If you prefer to take this course in a language other than English, or one of the languages which has already
been translated, then you may nd the buttons below useful in helping to set up automated translation in
your preferred browser:
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for Chrome, this link may be useful
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C O NT I NU E
Who is the course made for?
This course is intended for anyone who would like to learn about the GS18 I and how to use it.
This course assumes that you have knowledge of the GS18 T. It is recommended that the GS18 T -
Introduction and how to use course has been completed before starting this course, however you will
also get the opportunity to review the GS18 T videos during this course.
C O NT I NU E
How you will learn
Lessons
The lessons in this course consists of a mix of reading, watching videos and answering questions
Your progress through the lessons is automatically saved, so you can stop at any
time, and resume the lesson later
The quiz
The quiz consists of several multiple-choice questions
At the end of the quiz you will receive a score which will be your grade for the entire course
It will take you approximately 1 1/2 hours to complete the course. The course can be completed in stages
and does not need to be done in one session
How is the course completed

To pass the course, your quiz grade must be at least 75%
You will then be awarded the course badge
C O NT I NU E
Course developer
There is interactive material throughout this course. Usually you must "interact" before you are allowed to
continue to the next section. Try it out by clicking on the ip-cards below and see how the Continue button
at the bottom of the page only becomes available once you have " ipped" all the cards.
Course designed and developed by

Paul Dainty
Senior Product Engineer, Geomatics
Market Development
Surveying & Mapping Science

degree from Newcastle
University, UK.
with assistance from
Metka Majeric
Product Engineer, GNSS Product
Management
Geomatics Science Masters

degree from the Graz
University of Technology,
Course contact
If you have any problems with the course, please contact Paul Dainty
SEND EMAIL
So let's get started...
Make sure to ip all the ip cards above before moving on

Lesson 2 of 9
Lesson 1 - Introducing the GS18 I

Paul Dainty
Lesson aims
The aims of this lesson are to:
Be introduced to the GS18 I
Learn about the main features of the GS18 I
Discover the key characteristics of the GS18 I
See where the GS18 I ts into the range of GNSS smart antennas from Leica Geosystems
C O NT I NU E
Introducing the GS18 I

The Leica GS18 I is a fast, safe and easy to use GNSS RTK rover, with the ability to measure a large
amount of remote points from a safe distance.
This is made possible using Visual Positioning technology that is based on the seamless integration of
GNSS, IMU and a camera.
The GS18 I gives the ability to measure points either with the pole as a traditional GNSS rover, or by
measuring in captured images in the eld and in the of ce, all with survey-grade accuracy.
The GS18 I is the world’s rst GNSS RTK rover with

integrated Visual Positioning technology.
C O NT I NU E
Imaging power for GNSS
The “I” in the GS18 I stands for "Imaging", as the “T” stands for "Tilt" in the GS18 T.
The GS18 I is a GS18 T, with the addition of an integrated camera and the ability to measure from
images.
It has the same functionalities, look and feel as the GS18 T but with an extended measurement range.
GS18 I + Captivate + In nity
The GS18 I works with the latest CS20 and CS35 controllers running Captivate eld software, which
allows images to be captured and enables points to be easily measured from images whilst on site.
Captured images can be transferred to Leica In nity for further measurement in the of ce. Single points
can be created from the images , as well as a 3D point cloud that can be further used in design and
analysis.
The Leica GS18 I allows surveying professionals to

measure previously inaccessible points quickly, easily
and accurately. Now they can capture hundreds of
points in minutes, safely and ef ciently, and decide later
which points shall be measured.
C O NT I NU E
Launch video of the GS18 I
Let's watch the launch video of the GS18 I, which gives a good overview of the whole solution:
VIDYARD
Online learning | Leica GS18 I - Introduction and how to use |

Introducing the GS18 I
VIEW ON VIDYARD 
C O NT I NU E
GS18 I features
The GS18 I is the most advanced GNSS sensor available to date. It inherits all of the technologies from the
GS18 T, and introduces Visual Positioning technology.
Let's have a look at the main features of the GS18 I. :
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Base
The GS18 I can be used as a reference base station to transmit correction data and can be used to log raw data.
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Rover
The GS18 I is an accurate and easy to use GNSS RTK rover, with self-learning and RTKplus.
It has a built-in UHF radio modem, and a LTE (4G) modem for correction communication.
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Tilt compensation
The GS18 I can be used with tilt compensation, allowing to measure or stake without needing to hold the pole
vertical.
The tilt compensation is immune to magnetic disturbances and is calibration free.

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SmartCheck
SmartCheck continuously evaluates and veri es your RTK solution to ensure the most reliable RTK measurements.
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SmartLink
When using the GS18 I, SmartLink or SmartLink ll can be used for remote precise point positioning when the RTK
correction service is unavailable.
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Visual Positioning technology
Visual Positioning technology combines GNSS, IMU and a camera, enabling the GS18 I to capture multiple images
from a scene and measure points from these images with survey-grade accuracy.
Further information
To see more detailed speci cations of the GS18 I, download the datasheet below:
LGS GS18 I A4 DS 0220.pdf
1.7 MB
Make sure to click all the hot-spots on the image above before moving on
The GS18 I key characteristics
Click on each of the hotspots below to learn why the GS18 I is innovative, fast and versatile:
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Innovative
The Leica GS18 I utilises highly innovative Visual Positioning technology which is based on the seamless integration of
GNSS, IMU and a camera.
The application of this technology has been developed and is patented by Leica Geosystems (part of Hexagon).
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Fast
Designed to measure a large amount of points ef ciently, the Leica GS18 I allows you to capture images and measure
hundreds of points within minutes.
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Versatile
By having the power to measure what you see, you can now reach places you couldn’t before without switching tools
or climbing through obstacles. That gives you the exibility in the eld, frees up equipment and crews, and truly
maximises productivity in your projects which results in increased pro ts.
Current range of GNSS smart antennas from Leica Geosystems
The GS18 I is a new addition to the range of GNSS smart antennas available from Leica Geosystems, and is
the most advanced.
Click on each of the hotspots to get an overview of each smart antenna:
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GS07
Light weight, yet robust mid-range GNSS smart antenna.
320 channels
GPS/GLONASS/Galileo/BeiDou/QZSS/SBAS
RTKplus
External receive radio (via CS20)
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GS16
Industry leading self-learning GNSS smart antenna.
555 channels
RTKplus
SmartLink
3G + UHF radio
Micro SD card
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GS18 T
The world’s fastest and easiest-to-use GNSS RTK rover.
555 channels
RTKplus
SmartLink
Tilt compensation
LTE + UHF radio
SD card
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GS18 I
GNSS Rover with Visual Positioning.
555 channels
RTKplus
SmartLink
Imaging
Tilt compensation
LTE + UHF radio
SD card
Below you can compare all the smart antennas and receivers in more detail, with the Leica Geosystems
GNSS comparison chart:
LGS GNSS Comparison Chart 0220.pdf
755.2 KB
Further information
Further information on the Leica Geosystems GNSS sensors can be found on the Leica
Geosystems website.
GO TO WEBSITE
Lesson summary
In this lesson you have learned that the Leica GS18 I:
Is a fast, safe and easy to use GNSS RTK rover, with the ability to capture images of the site,
and allows points to be measured from the images with survey-grade accuracy
Works with the latest CS20 and CS35 controllers, Leica Captivate eld software and Leica
In nity of ce software
Inherits all of the technologies from the GS18 T, and introduces Visual Positioning technology
Is a new addition to the range of GNSS smart antennas available from Leica Geosystems, and
is the most advanced
We are almost ready to move on to Lesson 2 where we will look at how the GS18 I works, but rst we have
a knowledge check question.
Note that the end of lesson knowledge check questions do not count towards your overall course score.
Knowledge check:
Which of the following are features of the GS18 I?
Select all correct answers.
Tilt compensated measurements
Self-learning and RTK plus
SmartLink and SmartLink ll
Integrated UHF radio and LTE modem
SUBMIT
Make sure to complete the knowledge check question above before moving
on
Lesson 3 of 9
Lesson 2 - How the GS18 I works

Paul Dainty
Lesson aims
See how measurements can be made from images
Learn how the GS18 I allows measuring in images
Learn how the GS18 I works
C O NT I NU E
How can measurements be made from images?
The concept of making measurements from images is not new. The technique, known as
photogrammetry, has been around for over 100 years.

Photogrammetry can be simply de ned as 'the science of making measurements from photographs'.
There are two general types of photogrammetry, which are aerial and terrestrial (close
range) photogrammetry. Both use similar principles.
Close range and aerial photogrammetry

Diagram indicating the principle of photogrammetry
The basic principles of photogrammetry are to determine the spatial relationship between the camera, the
image and the object. To do this, certain parameters are required to be known, such as:
The internal geometry of the camera
The position and orientation of the camera at each image location
With the known parameters and using photogrammetric techniques, the position
and orientation of the images are computed, which then allows accurate
measurements to be made from them.
“ Photogrammetry is the art, science, and technology of obtaining reliable information

about physical objects and the environment through processes of recording, measuring,
and interpreting photographic images”
Wolf and Dewitt, 2000; McGlone, 2004
C O NT I NU E
How does the GS18 I allow us to measure in images?
We have seen how the principles of classical photogrammetry allow measurements to be made from
images, so how exactly does the GS18 I allow us to do this?
The GS18 I uses a newly developed technology called Visual Positioning, which is based on
photogrammetry, but is different to classical photogrammetric work ows.
The Visual Positioning algorithm overcomes the traditional and cumbersome photogrammetric work ows
and allows measuring in images to be easy and quick.

Using the GS18 I with Visual Positioning technology, it is NOT needed to:
Stop to take photographs from multiple xed positions, like when using other similar
technologies.
Manually identify the same point of interest in different images.
C O NT I NU E
How easy is it to measure in images with the GS18 I?
The GS18 I is designed to be incredibly easy to use, and requires no previous knowledge of
photogrammetry.
Watch the animation below, which shows the basic concept of how the GS18 I allows us to measure in
images:
VIDYARD
Online learning | Leica GS18 I - Introduction and how to use |
How the GS18 I works
VIEW ON VIDYARD 
C O NT I NU E
Using the GS18 I to capture and measure in images
As we saw in the animation, the process of making measurements from images happens in two steps:
1 Capturing an image group - using the GS18 I
2 Measuring in images- using Captivate or In nity
Click on each hotspot below to learn more:

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1. Capture an image group using the GS18 I
First, it is needed to capture an image group of the object. This is done by simply walking alongside the object whilst
the GS18 I automatically captures images.
For each captured image, the precise position and orientation is automatically computed.
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2. Measure in images using Captivate
To measure in a captured image using Captivate, it is needed to identify the point of interest in only one of the
images.
A matching algorithm automatically identi es the same point in other images, and the position of the point can be
calculated.
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2. Measuring in images using In nity
To measure in a captured image using In nity, it is needed to identify the point of interest in only one of the images.
A matching algorithm automatically identi es the same point in other images, and the position of the point can be
calculated.
A 3D point cloud can also be generated from the images.
We will look at each of these steps in more detail in the next lessons.
How does the GS18 I work?
Let's take a closer look at how the GS18 I works:
During image capture
GN SS PO SI T I O N I MU C A ME R A
As the GS18 I is moved along the object, the sensor receives satellite information and correction data, and
computes precise GNSS positions.
As the GS18 I is moved along the object, the IMU measures and reports the GNSS sensor's force and angular
rate to continuously derive its motion in terms of velocity and orientation change. The forces are measured by
integrated accelerometers and gyroscopes, which provide the information necessary to continually compute
the tilt and orientation of the sensor.
As the GS18 I is moved along the object, the camera continually records images of the scene. Features in the
scene, such as corners of objects, are automatically detected and tracked from image to image. The features
are used to position and orientate the images relatively to each other.
To see the feature tracking in action, play the short video below:
After image capture
Merging and processing the data
The GNSS and IMU data is used to calculate the initial position and orientation of each image. Using the
extracted features from the camera, the data is merged and processed using a bundle block adjustment.
Applying the position and orientation to the images
The position and orientation of each image is now optimised. The images are ready to be used to make
measurements in with survey-grade accuracy.
C O NT I NU E
Lesson summary
In this lesson you have learned that:
We can use photogrammetric principles to make measurements from images
The GS18 I allows us to measure in images using Visual Positioning technology
The GS18 I integrates GNSS, IMU and image data to determine the position and orientation
of the captured images
Making measurements in images with the GS18 I is incredibly easy and quick
We are almost ready to move on to Lesson 3, where we will look at the bene ts of the GS18 I, but rst we
have a knowledge check question.
Knowledge check:
Which of the following data does the GS18 I use to determine the position and
orientation of the captured images?
Motion data from the IMU
Orientation from a magnetic compass
Tracked features from the camera
Atmospheric pressure from the altimeter
GNSS positions from the antenna
IR data from the light sensor
SUBMIT
on
Lesson 4 of 9
Lesson 3 - Bene ts of the GS18 I

Paul Dainty
Lesson aims
Review the bene ts of tilt compensation
Learn about the bene ts of Visual Positioning technology
Visualise some typical GNSS obstacles
See how the GS18 I can overcome GNSS obstacles
C O NT I NU E
Bene ts of tilt compensation

The GS18 I has all the bene ts of the GS18 T, plus even more. One of the key features of the GS18 T (and
GS18 I) is the tilt compensation .
If you would like to learn about the bene ts of using tilt compensation with the GS18 I, then open up the
section below, and watch the GS18 T how-to video.
Measuring with the GS18 T using tilt compensation
Open this section if you want to see the GS18 T how-to video
–
The introduction and bene ts sections of the "How to use the Leica GS18 T GNSS RTK rover" video will
play below (from 00:00 to 03:00):
How to use the Leica GS18 T GNSS RTK rover
C O NT I NU E
Bene ts of Visual Positioning technology
Now let's look at the bene ts of using the GS18 I with Visual Positioning technology.
We will look at three problems that are common when using a conventional GNSS sensor:
1 How to measure areas of detail that can not be reached

2 How to measure areas that have a restricted view of the sky
3 How to measure lots of detail as quickly as possible
Let's look at each one in turn, and see how each problem is solved and the key bene ts of the GS18 I.
Problem 1 - Measuring areas of detail that can not be reached
When surveying using an RTK rover, it is often needed to measure some areas of detail, which cannot be
reached with the tip of the survey pole. It may be physically dif cult or even dangerous to attempt to
reach these areas, for example the centre of a road, the middle of a trench or near a steep embankment.
To measure these areas of detail, it is needed to switch to an alternative measurement solution . This
takes additional time and can be costly.

How would you currently measure areas of detail that
cannot be reached, like in the examples below?
Detail in the middle of a road Detail in a trench The top of a retaining wall
Let's see how the GS18 I can solve this problem:
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Solution
Capture images of the area to be measured, without needing to physically reach it with the GNSS rover
Measure the points of detail from the captured images

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Feature
The GS18 I has an integrated camera to capture images.
Points of detail can be measured by tapping in the captured images, or extracted from a point cloud in the of ce
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Bene t
Increased safety by measuring some areas of detail from a distance.
Time and cost savings by not needing to use additional survey equipment.
A key bene t of being able to measure in images is that areas of detail

that can not be reached can now be measured.
Problem 2 - Measuring areas that have a restricted view of the sky
When surveying using an RTK rover, it is often needed to measure some areas of detail which cannot be
directly measured due to a restricted view of the sky. Surrounding objects, such as a tall building, a
building canopy or tree canopy can mean that an RTK rover can not be used, due to insuf cient satellite
signals and/or multipath .

To measure these areas of detail, it is needed to switch to an alternative measurement solution . This
How would you currently measure areas of detail that have

a restricted view of the sky, like in the examples below?
Detail under a building Detail close to tall buildings Detail under tree canopy
canopy
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Solution
Capture images of the area to be measured, without needing to position the GNSS rover under the canopy.
Measure the points of detail from the captured images.

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Feature
Points of detail can be measured by tapping in the captured images, or extracted from a point cloud in the of ce.
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Bene t
Cost and time savings by not needing to use additional survey equipment.
A key bene t of being able to measure in images is that areas that

have a restricted view of the sky can now be measured.
Problem 3 - Measuring lots of detail as quickly as possible
When surveying using an RTK rover, it is often needed to measure lots of detail which is time
consuming to survey as individual points.
It may be necessary to measure an area such as a crash scene as quickly as possible without knowing
exactly which points are of interest later. Returning to the area or scene later may not be possible.
To measure these areas of detail, it is needed to switch to an alternative measurement solution. This

How would you currently measure lots of detail as quickly
as possible, like in the examples below?
Detailed features like steps A crash scene

Complex underground
utilities
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Solution
Capture images of the area to be measured, without needing to measure each individual point whilst on site.
Measure the points of detail from the captured images.

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Feature
Points of detail can be measured later by tapping in the captured images, or extracted from a point cloud in the
of ce.
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Bene t
Time savings by not needing to individually measure the points whilst on-site.
Cost savings by not needing to use additional survey equipment.
Images can be useful for general documentation.
The ability to measure additional objects in the scene at a later date.
A key bene t of being able to measure in images is that lots of detail

can be captured very quickly, and measured in the images later.
Typical GNSS obstacles
We have now seen plenty of examples where the GS18 I can be used to measure, where a conventional
GNSS rover can not be used.
The image below shows a typical area that might be required to be surveyed. This area is considered
challenging for a conventional GNSS rover due to the many obstacles that cause a restricted view of the
sky and/or multipath.
See if you can nd 8 obstacles that are likely to disrupt the satellite signals, and cause problems for a
conventional GNSS rover. Once you click each obstacle, the affected area will be shown in red:
If it was attempted to measure this area with a conventional GNSS rover, there would be considerable
areas on the ground that could not be measured directly because of the obstacles. To measure these
obstructed areas, it would be needed to use additional measurement equipment.
How would you measure the obstructed areas?
Using a tape measure?
Using a disto?
Using a total station?
Overcoming GNSS obstacles with the GS18 I
Using the GS18 I with Visual Positioning technology, most of the GNSS obstacles you found previously can
be overcome.
The image below shows the measurable area using three different GNSS rovers.
The red areas are not measurable due to obstacles or being out-of-reach
The green areas are measurable with the selected GNSS rover
Use the slider to switch between the three different GNSS rovers and see the different results:
With the GS18 T With the GS18 I
Using the GS18 T, the measurable area is slightly Using the GS18 I with Visual Positioning
extended from the GS16, due to the ability to technology, the measurable area can be
measure with the pole tilted. For example, a building signi cantly extended by capturing images of this
footprint can often be measured by tilting the pole, area and measuring points in the images later. It is
and reaching it with the pole tip. This keeps the even possible to capture and measure the building
antenna away from the building facade, which can facades, leaving only the highest roofs
help avoid losing lock. unmeasurable from the ground.
 When using the GS18 I with Visual Positioning technology, you will very quickly discover
how much more can be measured compared to using a conventional GNSS sensor.
Nevertheless, there may still be some scenarios when it is needed to use other types of
measuring equipment, such as a disto, total station or laser scanner.
C O NT I NU E
Lesson summary
In this lesson you have learned that:
The GS18 I allows measuring areas of detail that can not be reached
The GS18 I allows measuring areas that have a restricted view of the sky
The GS18 I allows measuring lots of detail as quickly as possible
Certain obstacles can affect the areas a GNSS rover can measure in
Typical GNSS obstacles can be overcome with the GS18 I

We are almost ready to move on to lesson 4, where we will look at capturing an image group, but rst we
Knowledge check:
We learned about the bene ts of using the GS18 I over a conventional GNSS sensor.
Can you think of any additional bene ts of being able to measure from captured
images?
Being able to identify what the measured objects are by looking in the images
Reducing the reliance on needing to receive correction data
Being able to maintain a precise position even after losing satellite signals
Being able to present more information to the client than was initially requested
Being able to make measurements indoors
Measure vertical details such as building facades
SUBMIT
on
Lesson 5 of 9
Lesson 4- Capturing an image group

Paul Dainty
Lesson aims
Learn how to setup the GS18 I RTK Rover
Learn how to use the GS18 I to make tilt-compensated measurements
Learn when to capture images with the GS18 I
Learn how to use the GS18 I to capture an image group
C O NT I NU E
Overview of capturing an image group

We already learned that in order to measure in images, it is rst needed to capture an image group. The
video below explains how this is done:
(the video will skip the introduction and start playing at 00:40s)
Next we will look at some further details that were not covered in the video.
C O NT I NU E
Using the GS18 I with the correct CS controller
The GS18 I works with the latest CS20 and CS35 controllers running Captivate eld software.
The CS35 has a larger screen and more processing power than the CS20, which makes it the ideal
controller to use with the GS18 I.
The CS20 can also be used, but due to the processing power required, it must be an updated CS20 with 2
GB RAM. The updated CS20s can be identi ed with an article number between 876476 and 876480.
C O NT I NU E
Setting up the GS18 I
We saw in the video how to set up the GS18 I. Let's see some more details on setting up the GS18 I:
SE T T I N G UP F R O M T H E B O X SE T T I N G UP O N T H E PO L E C O N N E C T I N G T H E SE N SO R
The GS18 I sensor requires one Leica GEB331 battery.
The communication antenna should be attached to the correct port, according to which communication
device is being used:
The longer antenna (GAT28) is for the UHF radio
The shorter antenna (GAT27) is for the LTE cellular modem
A micro SIM card can be inserted into the sensor for cellular communication.
A Leica SD card can be inserted for raw data logging when the sensor is used in static mode.
The GS18 I should only be used with a GLS30 carbon pole, as this pole has the required stiffness and
accuracy for tilted measurements.
To use the GS18 I to make tilt compensated measurements, the interface of the GS18 I should be
approximately aligned with the controller, facing the user. Although not critical, this ensures the
graphics in the 3D viewer will be correctly orientated and will make sense.
To use the GS18 I to capture an image group, the camera of the GS18 I should be aligned pointing left
or right relative to the controller, facing the area to be captured. This ensures the geometry of
captured images will be optimal (and the optimal results will be achieved).
To use the GS18 I to capture images, it is needed to connect the controller to the GS18 I using either a
WLAN or a Cable connection. This allows enough bandwidth to transfer the captured images to the
controller, which is not possible when using a Bluetooth connection.
To make the initial WLAN connection from the controller to the GS18 I, in Captivate access the
Settings, Connections, All other connections and edit the GS rover. Use F4 to Search for the GS18 's
network.
Make sure to read the information on all the tabs above before moving on
Using the GS18 I to make tilt-compensated measurements
As we saw in the video, the GS18 I can be used to make tilt-compensated measurements with the pole.
Using it this way would mean using it in exactly the same way as using a GS18 T.
If you would like to learn about making tilt compensated measurements, then open up the section below,
and watch the GS18 T how-to video.
Making a tilt-compensated measurement
Open this section if you want to see the GS18 T how-to video
–
The "tilt compensated measurements" section of the "How to use the Leica GS18 T GNSS RTK rover" video
will play below (from 05:22 to 08:27):
How to use the Leica GS18 T GNSS RTK rover
C O NT I NU E
When to capture images with the GS18 I
In the video we saw that the building corner underneath the canopy could not be measured with the pole, as
the RTK xed position was lost when the view to the satellites was obstructed.
We saw that an image group was captured of the area, so that a measurement of the building corner could
be made in the images later.
This is one example of when to capture images with the GS18 I, in order to continue working without
needing to use additional equipment.
Time to capture an image group!
There are many scenarios where it might be useful to capture images to measure points in the images. A
few more examples are as follows:
Capturing a pipe within a

trench that is dif cult to reach
Capturing the back of footpath
under canopy, or safely
capturing the centre of the
road
Capturing the position of

everything at the crash scene in
minutes
There are many more scenarios and use cases where it might be useful to capture images to measure in
later. You can probably think of some more yourself!
Using the GS18 I to capture an image group
Aligning the camera
In the video we saw that before capturing an image group, the sensor was orientated so that the camera
points to the left, to face the area to capture.
It is recommended to do this carefully, so that the camera points at a right angle to the direction of
movement. This ensures the optimal geometry of the images and therefore the optimal quality of image
measurements.
Aligning the camera to the left

In Captivate, it is not needed to de ne the direction the
camera is pointing, neither is it needed to de ne the
antenna height whilst capturing an image group.
RTK xed position and tilt compensation initialised
RTK xed position and tilt compensation initialised
In the video we saw that there was an RTK xed position and the tilt compensation was initialised before
starting the image group capture. This is needed to determine the position and orientation of the images
precisely enough to be able to measure in them.
To make sure the tilt compensation is well initialised, ensure you have a RTK or SmartLink xed position
and then walk to the starting point of the image group capture. The more the GS18 I is moved around, the
better the tilt initialisation will be, and the better the results will be.
If the sensor has no RTK or SmartLink xed position or

no tilt compensation and the position quality is bigger
than 10 cm, it will not be possible to start the image
group capture.
The walking path
In the video we saw that the image group was captured by walking along a slightly curved path, between 2
and 10m from the object to measure.
It is recommended, if possible, to walk in a slightly curved path so that the images are captured with the
optimal geometry. This will help to achieve the best results and the speci ed accuracy. Walking along a
straight path is also acceptable.
The length of the walking path should be at least twice as long as the distance to the object.
If possible, walk along a slightly curved path
What should I not do when capturing an image group?
Don't walk whilst facing the

camera forwards
Don't stand still and rotate the
sensor around
Don't stand still and scan the

area back and forth
Simply walk as you normally would, alongside the object

to capture with the camera facing left or right.
3D position quality dropped below 0.1m and tilt compensation stopped
Position quality drops or tilt compensation stops
During capturing an image group, if either the 3D position quality drops below 0.1m, or the tilt
compensation stops, the capturing will be automatically stopped.
All captured images up to that point will be processed and stored. If enough images were captured, they will
be available to measure in.
If it is needed to capture more images, a new image group must be started.

Lesson summary
In this lesson you have learned:
How to align the GS18 I to capture an image group
How the GS18 I is used to make tilt compensated measurements
When to use the GS18 I to capture an image group
The best practices of how to capture an image group
We are almost ready to move on to Lesson 5 where we will look at measuring points in images, but rst we
Knowledge check:
Which of the following are required in order to capture an image group?
The tilt compensation needs to be initialised
A Leica SD card needs to be inserted

An RTK or SmartLink xed position
The antenna height needs to be entered
The camera needs to be aligned to face the area to capture
The camera orientation needs to be selected in Captivate
SUBMIT
on
Lesson 6 of 9
Lesson 5- Measuring points in images

Paul Dainty
Lesson aims
Learn how to measure points in images automatically
Learn how points can be manually added in an image
Learn how points can be manually removed from an image
C O NT I NU E
Overview of measuring points in images
We already learned that once an image group has been captured, points can then be measured in the
images straight away. The video below explains how this is done:
C O NT I NU E
Measuring the point
We saw in the video the process of marking and measuring a point.
After pressing Measure, the matching algorithm automatically searches in several other adjacent images
for the same point.
If the point is clearly visible, the point will be automatically matched in 5 images, indicated by the number of
Used images.
What if no points are automatically matched?

–
If the point is not clearly visible and recognisable in any other image, then the matching algorithm may not be
able to automatically match any points.
In this case, the 2D quality value will be 0 and the number of Used images will be 1.
The blue cross will only appear in the current image, indicating that only this image is being used for the
point calculation. In other images, there will be no symbol, and only an epipolar line will be displayed (red line
in image below).
To be able to measure the point, the user must manually mark the point in at least one other image. This
point should lie on the epipolar line.
We will learn more about adding points manually later in the lesson.
Is it possible to manually override the automated point matching?

–
Yes, it is possible for the user to manually override the automated point matching in the images.
The user can do this by manually adding or removing points in the images. We will learn about this later in
the lesson.
Are there any limitations to what objects can be measured in images?
–
Yes, there are some limitations to what can be measured in images. The point must be identi able in
different images so that it can be matched. This will be explained in more detail in lesson 7.
What coding and linework functionality is there?

–
In the GS Imaging app, it is possible to assign a point code and attributes to the measured point, before it is
stored. This works in the same way as any other app within Captivate, when using a suitable codelist.
At the initial release, the linework functionality will not be available in the GS Imaging app. Although the
point can be coded with a string number (using an attribute), the linework will not be seen in the map view.
Depending on how the data is exported afterwards, and into which software, the point codes with
stringlines may still appear fully correct in the destination software.
Overview of adding and removing points in images
We already learned that it is possible for the user to manually add or remove points in images. The video
below explains how this is done:
C O NT I NU E
Adding and removing points in images
We saw in the video the process of adding and removing points in images. We saw how:
Points can be added manually to an image, in addition to the automatically

matched images
Points can be removed from images
Points can be re-added manually to images
When is it needed to add or remove points in images?

The automated matching algorithm is very robust, allowing measuring points in images to be quick and
easy. There can be some situations however, where the point is not matched as expected between images.
Even if the point looks recognisable in different images to you, it may appear slightly different to the
algorithm, and need some human intervention to help match the point.
Click on the hotspots below to see an example of this:



The point appears different when viewed from a different perspective


The point appears different when viewed from a different perspective
In these scenarios, it may be necessary to add or remove points manually in order to measure the point
with the highest possible quality.
 Typically, once a point has been correctly matched in about 5 images, it is unlikely that
the point position quality will be signi cantly improved by adding more points to other
images.
It is also possible to actually worsen the point position quality by manually adding points
to other images that are incorrectly positioned within the image.
Being able to add or remove points manually allows the user to have
control over which images de ne the point computation, allowing the
user to make their own decision about which points really match.
C O NT I NU E
Lesson summary
How a point can be measured automatically by tapping in only one image
What happens when points can not be automatically matched

How points can be manually added and removed in images
We are almost ready to move on to Lesson 6 where we will look at using Leica In nity to measure in
images, but rst we have a knowledge check question.
Knowledge check:
What do the following symbols mean, when measuring points in images in
Captivate?
Match the correct answers by dragging each description to the correct number.
The point has been stored

and exists as a database 1
point
The point has been marked

in this image but not yet 2
measured
The point has been
measured and is used in this
3
image for the position
calculation
The point has been

measured but is NOT used in
4
this image for the position
calculation
SUBMIT
on
Lesson 7 of 9
Lesson 6- Measuring in images using Leica In nity

Paul Dainty
Lesson aims
See how to use Leica In nity to measure points in images
See how to use Leica In nity to generate a point cloud from the images
See how the data can be published for further analysis
 Note that this lesson is designed to give an overview of using In nity to process images,
and will not go into details such as which settings to use. It is planned that a separate
In nity course will cover this in more detail later.
C O NT I NU E
Overview of using In nity to measure in images captured with the GS18 I
Leica In nity v3.4 onwards offers the ability to process the images captured with the GS18 I. Using
In nity, it is possible to measure points in images, and generate point clouds from the image groups.
The video below gives an overview of how this is done:
C O NT I NU E
Using In nity to measure points in images
We saw in the video the process of creating a point in In nity.
After clicking the point of interest in one image, the matching algorithm automatically searches in several
other adjacent images for matching points.
Once the point is matched in at least 2 images, the point position can be calculated, and the point can be
created.
 An "Imaging" license option is required to perform imaging functions within In nity
What if no points are automatically matched?

–
After marking the point in one image, if the point is not clearly visible and recognisable in any other images,
then the matching algorithm may not be able to automatically match any points in other images.
In this case, in the Property Grid, there will not be any coordinates or any 2D quality value . In other
images, there will be no point marking symbol.
The image intersection Mode will now be set to Manual, and the user will need to manually mark the point
in at least one other image to be able to create the point.
Is it possible to improve the automated point matching?

–
Yes, it is possible for the user to try to improve the automated point matching in the images, before the point
is created.
The user can do this by setting the image intersection Mode to Manual, and then marking the point
manually in an image. If an image already contains a point marking, clicking on the image again will update the
point marking position.
A point marking can be removed from an image by right-clicking on the image, and selecting Remove point.
Are there any limitations to what objects can be measured in images?

–
Yes, there are some limitations to what can be measured in images. The point must be identi able in
different images so that it can be matched. This will be explained in more detail in lesson 7.
Using In nity to generate a point cloud from the images
We saw in the video the process of generating a point cloud from the image group.
From the selected image group, a dense point cloud is created from the orientated images.
Point cloud points are created over the entire area that is covered by multiple images.
Generated point cloud in In nity
 An "Imaging Point Clouds" license option is required to be able to generate a point cloud
from image groups within In nity
How is it possible to create a point cloud over the entire

area?
We learned in a previous lesson that to create single points in images, the point must be recognised and
matched in at least one other image.
In areas of little recognisable detail, it may not be possible to match points across different images, either
automatically or manually.
When generating a point cloud from an image group in In nity, points can be created across the entire area
that is covered by multiple images. This uses a photogrammetric technique called Dense Image
Matching.
This technique uses an algorithm which looks at each pixel in the current image, and searches for the best
pixel match across several other images. It does this by comparing the pixel colour values and their
neighbours, and tries to nd the most likely match. Points can then be created at the intersection of the
matched pixels.
Dense Image Matching article
This is a short article explaining more on Dense Image Matching on the GIM International website.
GO TO ARTICLE
C O NT I NU E
What are the advantages of using In nity instead of

Captivate?
Using In nity to process the images has several advantages over using Captivate on a controller to
measure in images:
Points can be measured in the comfort of an of ce
Using a larger desktop screen allows the detail in the images to be seen better
Using a mouse gives better control, allowing points to be created and edited more quickly
Point clouds can be created from the image groups, and published to other software, e.g
JetStream
C O NT I NU E
Lesson summary
How points can be automatically created using the imaging tool within Leica In nity
How a point cloud can be generated over the entire area covered with multiple images
The advantages of using In nity over Captivate to measure in images

We are almost ready to move on to Lesson 7 where we will look at the quality of measuring in images, but
rst we have a knowledge check question.
Knowledge check:
Which of the following are required to use Leica In nity to measure points in
images?
A coordinate system to give local grid coordinates and ortho height
Two separate monitors
In nity version 3.4 or later
An Imaging license option
A WLAN connection to the CS controller
A Hexagon Imagery program license
SUBMIT
on
Lesson 8 of 9
Lesson 7- Quality of capturing and measuring in

images
Paul Dainty
Lesson aims
Learn what accuracy can be achieved by measuring in images
Learn about what to consider when capturing an image group
Learn what to consider when measuring in images
C O NT I NU E
What kind of accuracy can be achieved by measuring in images?

The table below shows the expected accuracy that can be achieved for measuring in images, using RTK and
SmartLink correction services:
RTK SmartLink
2D 2 - 4 cm 4 - 6 cm
3D 3 - 5 cm 5 - 7 cm
What affects the accuracy of a point measured in an image?
The accuracy obtainable from measuring points in images is dependant on several components of the GNSS
sensor and its measurements:
GNSS position quality

–
The GNSS position quality can be affected by:
The number of satellites used and their geometry
Atmospheric conditions
Local multipath
The type and quality of the correction service being used
IMU tilt quality

–
The tilt quality can be affected by:
The GNSS position quality (which is used to continually update the IMU)
How much the sensor is being moved
How long the sensor has not been moving for

Feature tracking quality
–
When capturing images, the feature tracking quality can be affected by:
The structure and the amount of visible features
How static the features are (if they are moving)
The distance to the features
The angle and movement of the camera relative to the features

Image measuring quality
–
When measuring in images, the point quality can be affected by:
The distance to the point
The intersection geometry between used images
The number of images in which the point is matched

We can see that many factors can affect the measured point accuracy. Most of the factors above are
known at the time of measurement, and can be taken into account when the point position is calculated.
This allows the position quality of the point measured in an image to be estimated.
Using RTK, the typical 2D accuracy obtainable by

measuring points in images is 2 - 4 cm within the selected
reference coordinate system
What to consider when capturing an image group
Using the GS18 I to capture an image group is extremely easy and quick, however there are certain factors
to consider in order to capture images that have a high enough quality. We will look at these factors next:
How far away from the object can I capture images?
When capturing images, the GS18 I has been optimised to work best within a certain range from the object.
Only within this range is the speci ed accuracy likely to be achieved.
Slide the GS18 I left and right across the image below to discover the optimal capture range from an object:
When capturing images less than 2 meters from When capturing images more than 10 meters from
the object, the amount of overlap between the the object, the angle of intersection between the
captured images is reduced. This means the captured images is reduced. This means the quality of
number of images that a point will appear in is the measurements in images will be reduced. It will
reduced, and therefore the quality of the also become more dif cult to de ne a point
measurement will be reduced. accurately in the image.
Make sure to complete the slider game above before moving on
Can any type of object be captured with images?
The types of objects that can be captured with images should be considered.
Because of the way the Visual Positioning technology works, when capturing an image group, the camera
must be able to track enough features so that the algorithm can use these for its computation.
There must be enough visible features in the camera's view that are de nable, clear and static from
different angles as the sensor moves past.

Tracking features with the camera
See if you can work out which scenarios are likely to be suitable for capturing an image group with the
GS18 I, and which are likely to affect the feature tracking. Drag and drop each of the pictures below to
either the 'good' side or the 'warning' side:
Make sure to complete the drag and drop game above before moving on
The drag and drop game revealed that in certain scenarios, the Visual Positioning technology may not be
able to track enough features to allow capturing an image group. This may happen when:
Capturing in very low light or directly into the sun - this may mean not enough features are
fully visible.
Capturing where a lot of the scene is moving, for example a body of water or vegetation
moving in the wind - this may mean the features are not static enough.
Capturing in front of glass buildings where there are very few features, and many re ections
from the glass - this may mean not enough features can be tracked.
 These scenarios are only likely to affect capturing an image group if they take up the
majority of the eld-of-view of the camera.
If such a scene is captured the GS18 I, the sensor will automatically detect that it cannot
track enough features, display a warning message and stop the image group capture.
If there are not enough features that can be tracked, the

capturing of the image group will automatically stop.
C O NT I NU E
What to consider when measuring in images
Using the GS18 I to measure in images is also extremely easy and quick, however there are also certain
factors to consider in order to allow measuring in images. We will look at these factors next:
Can any type of object be measured in images?

The types of objects that can be measured in images should be considered.
In order to measure a point in the images, it is required to be able to match the same point in at least two
images. This is the same whether the matching is done automatically or manually.
Because of this need to match, there are some objects and surfaces which are more suitable for measuring
in images than others.
See if you can work out which objects are likely to be suitable for measuring in images with the GS18 I, and
which are likely to affect the quality. Drag and drop each of the pictures below to either the 'good' side or
the 'warning' side:
Make sure to complete the drag and drop game above before moving on
The drag and drop game revealed that certain objects are not likely to be suitable for measuring in images.
If the same point can not be identi ed and matched in different images, it will not be possible to measure
the point correctly. Even if is attempted to manually match the point in another image, the resulting
measured point may have a low 2D quality, and therefore be incorrectly positioned.
 The 2D quality value will always give an estimation of the measured point quality.
C O NT I NU E
Lesson summary
When measuring in images, the typical 2D accuracy achievable using RTK is 2 - 4cm
The GS18 I is optimised to capture objects between 2 and 10m away
Which scenarios are suitable for capturing an image group

Which objects are suitable for measuring in images
We are almost ready to move on to the nal course quiz, but rst we have a knowledge check question.
Knowledge check:
Which of the following scenarios are likely to be suitable for measuring in images?
Continuous road lines
Corners of buildings
Featureless tarmac
Corners of steps
Featureless concrete
Corners of kerbstones
Corners of walls
SUBMIT
on
Lesson 9 of 9
Course quiz
Paul Dainty
The course quiz will check what you have learned.
The quiz consists of several multiple-choice questions
You need to score 75% or more to earn your badge
You can retry the quiz if necessary

Question
01/11
Which feature does the GS18 I have in addition to the GS18 T?
Tilt compensation
SmartLink
SmartCheck
Built-in LTE modem and UHF radio

Question
02/11
Visual Positioning technology is based on the seamless integration of which 3 sensors?
GNSS
Camera
Compass
IMU
Scanning
Radar
Question
03/11
Which of the following 3 statements are correct, when referring to Visual Positioning
technology?
It integrates GNSS, IMU and a camera
It provides a real-time 360 degree view of the scene
The application of it is developed and patented by Leica Geosystems (Part of Hexagon)
It enables the precise position and orientation of images to be determined and allows measuring in them to
be easy and quick
It allows accurate GNSS positioning without needing a satellite signal

Question
04/11
What are the 5 main bene ts of being able to measure from captured images?
Measurements can be made more accurately than with the pole
Increased safety by measuring areas of detail from a distance
Time savings by not needing to individually measure lots of points on-site
Images can be useful for general documentation
Cost and time savings by not needing to use additional survey equipment
The ability to measure additional objects in the scene at a later date

Question
05/11
Which of the following 4 are recommended when capturing an image group with the GS18 I?
Walk along a slightly curved path if possible
Ensure the tilt compensation is initialised
Walk as you normally would
Ensure the camera is facing the area to capture
Walk as straight as possible
Walk very slowly
Keep the pole as vertical as possible

Question
06/11
What is the optimal range to capture images of an object to achieve the speci ed accuracy?
Up to 10m
Between 1 and 15m
Between 2 and 10m
The is no limit
At least 1m
Question
07/11
The GS18 I can be used with which 2 Leica eld controllers?
CS15
CS20 (with 2GB RAM)
CS35
CC80
GG04
CS20 (with 1 GB RAM)

Question
08/11
Other similar technologies allow capturing images and measuring in them. What is usually
required when using these technologies?
An SLR camera must be used
Raw GNSS data must be logged
A separate smartphone must be used
Photographs must be taken from multiple xed positions
The sensor must be mounted on a tripod

Question
09/11
What is the minimum number of images required for a point to be matched in so that a
measurement can be made?
4
Question
10/11
Using Leica In nity, a point cloud can be generated from image groups captured with the GS18
I.
How is this made possible?
In nity uses the lidar information captured with the GS18 I
In nity uses a photogrammetric technique called dense image matching
In nity uses a photogrammetric technique called orthometric recti cation
In nity uses ground control points within the images
In nity uses a photogrammetric technique using epipolar lines

Question
11/11
What are 4 advantages of using In nity to measure in the captured images, instead of using
Captivate?
Points can be measured in the comfort of an of ce
Using a larger desktop screen allows the detail in the images to be seen better
Using a mouse gives better control, allowing points to be created and edited more quickly
Point clouds can be created from the image groups
A point can be measured in the eld, immediately after capturing an image group

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Paul Dainty

Leica GS18 I - Introduction and how to use

Lesson 1 - Introducing the GS18 I

Lesson 2 - How the GS18 I works

Lesson 3 - Bene ts of the GS18 I

Lesson 4- Capturing an image group

Lesson 5- Measuring points in images

Lesson 6- Measuring in images using Leica In nity

Lesson 7- Quality of capturing and measuring in images

In this course you will learn...

What the GS18 I GNSS RTK rover is

How the GS18 I works

The bene ts of using the GS18 I

How to use it to capture data

How to create points onboard and in the of ce

Leica Geosystems online learning is created in English.

for Firefox, this link may be useful

for Chrome, this link may be useful

for Edge, this link may be useful

Who is the course made for?

The quiz consists of several multiple-choice questions

How is the course completed

You will then be awarded the course badge

Course designed and developed by

Senior Product Engineer, Geomatics

Surveying & Mapping Science

with assistance from

Product Engineer, GNSS Product

Geomatics Science Masters

So let's get started...

Make sure to ip all the ip cards above before moving on

Lesson 1 - Introducing the GS18 I

Be introduced to the GS18 I

Learn about the main features of the GS18 I

Discover the key characteristics of the GS18 I

Introducing the GS18 I

GNSS, IMU and a camera.

The GS18 I is the world’s rst GNSS RTK rover with

GS18 I + Captivate + In nity

The Leica GS18 I allows surveying professionals to

Online learning | Leica GS18 I - Introduction and how to use |

Let's have a look at the main features of the GS18 I. :

The tilt compensation is immune to magnetic disturbances and is calibration free.

Visual Positioning technology

The GS18 I key characteristics

Current range of GNSS smart antennas from Leica Geosystems

Click on each of the hotspots to get an overview of each smart antenna:

Light weight, yet robust mid-range GNSS smart antenna.

Industry leading self-learning GNSS smart antenna.

The world’s fastest and easiest-to-use GNSS RTK rover.

GNSS Rover with Visual Positioning.

In this lesson you have learned that the Leica GS18 I:

Visual Positioning technology

Tilt compensated measurements

Self-learning and RTK plus

SmartLink and SmartLink ll

Integrated UHF radio and LTE modem

Lesson 2 - How the GS18 I works

See how measurements can be made from images

Learn how the GS18 I allows measuring in images

Learn how the GS18 I works

How can measurements be made from images?