STENCIL 2-16

POWERED BY KAARTA ENGINE

STENCIL 2-16 SPECIFICATIONS

Real-time, high fidelity 3D mobile OUTPUT .ply, .las

scanning and generation

MODES Baseline mapping
Add-on mapping for complex & larger areas
Compatible with .ply files from Kaarta Contour™ or other
devices
IMU Internal MEMS-based IMU
Six DoF: X, Y, Z, Roll, Pitch, Yaw
PROCESSOR Intel NUC 7i7 Quad Core
PORTS 2 HDMI
4 USB 3.0
RJ-45 Gigabit Ethernet
STORAGE 1 TB SSD
DISPLAY iPad 9.7” 32GB Wi-Fi
HDMI port supports optional display
OS Ubuntu Linux OS
LIDAR Standard adapter fits Velodyne VLP-16 lidar
1m [min] – 100m [max] range
360° horizontal FOV
30° vertical FOV
Class 1 Eye-safe per IEC 60825-1:2007 & 2014
GNSS Optional Emlid Reach RS+ RTK GNSS receiver and bracket
Integrates with other NMEA 0183 GNSS systems
ACCURACY ±30mm (lidar)
SPEED 300,000 points/sec [data acquisition]
Up to 10 Hz [scanning speed]
FEATURE 640 x 360 Resolution
Kaarta Stencil® 2-16 is a low cost, flexible mobile mapping platform for rapid TRACKER 50 Hz frame rate
mobile scanning; a computer small enough to fit in your hand but powerful Black & white images
enough to process and view any of the data it captures. Stencil’s integrated 3D WEIGHT 700g (1.54lb) without lidar
mapping and real-time position estimation allows capabilities not possible with OPERATING 0°C [min] – 50°C [max]
TEMPERATURE
fixed-base scanning systems.
HUMIDITY <85%
At the heart of Stencil is Kaarta Engine, Kaarta’s patent-pending advanced 3D POWER 12-19 VDC
mapping and localization algorithms. Kaarta Engine’s proprietary approach BATTERY LIFE 2 hours
surpasses the drift error of alternative SLAM systems by an order of magnitude. MOUNTING Hand held
PLATFORMS Monopod
Stencil accurately maps exterior and large interior spaces quickly and easily with
Roadway vehicle, ATV, UAV
a range of up to 100 meters with a lidar accuracy of ±30mm. Data rate is 300,000
INCLUDED 23000 mAh, 85W external LiPo battery (USA only)
points per second up to 10Hz. ACCESSORIES AC power adaptor
Base plate for camera or tripod
Stencil records GNSS data for use in loop closure to georegister or geolocate Hard plastic shipping container
datasets, correcting for drift and further enhancing the fidelity of large area OPTIONAL Vehicle Mounting Kit
scans. Kaarta provides an optional GNSS receiver and bracket kit or Stencil ACCESSORIES Stencil Accessory Kit
integrates with most NMEA 0183 GNSS systems. GNSS Kit
WARRANTY 1 year
Stencil’s user interface and on-screen keyboard accessed on the included tablet
SAFETY Complies with FCC Part 15, Subpart B Class B Radiated
makes real time operation easy, organized, and intuitive; giving users better and Conducted Emissions
control over scanning operations.
MODEL KRT-STN-FT-16-020: Base + VLP-16 + feature tracker
Confidence Metrics provide immediate feedback on the quality of scan matching NUMBERS KRT-STN-FT-00-020: Base + feature tracker
KRT-ACC-GS-00-010 : GNSS Kit
by signaling whether new scan data is registered properly in the existing map, KRT-ACC-BK-00-010: GNSS Bracket
signaling the likelihood of errors and allowing the user to increase the level of KRT-STN-SW-00-010: 1 yr software service
confidence by adjusting data collection techniques, or adjusting parameters. KRT-STN-HW-01-010: 1 yr extended hardware warranty
Automated Floor Leveling/Sectioning algorithms identify floor structures and KRT-STN-HW-02-010: 2 yr extended hardware warranty
KRT-ACC-ST-00-010: Stencil Accessory Kit
levels for better scans and reduced post-processing time. Floor Planner levels, KRT-ACC-VH-00-010: Vehicle Mounting Kit
rotates, and generates 2D images of “slices” from a point cloud.

The combination of small size and customizable capture hardware creates a

system that is easily adaptable. Stencil base configuration is an aluminum
enclosure with machined plates for lidar mounting and adapters as well as KAARTA ENGINE
mounting points to attach to monopods, ATVs, UAVs, drones, etc. Feature Real-time registered point cloud generation
Tracker, a high frame-rate imaging device, enhances operation in open, Real-time localization
unstructured environments. Stencil 2-16 includes a Velodyne VLP-16 and accepts Multi-sensor input (lidar, IMU, feature tracker)
Velodyne VLP-32 and HDL-32 with an adapter ring.
Continuously self-correcting minimal drift techniques
Stencil is a turnkey system that contains everything needed to capture and Implicit loop closure
process the captured data. No internet connection, additional computers, Fast, explicit loop closure at point of scan
software licenses, or subscription needed. Stencil serves as a stand-alone Point-of-scan work confirmation
scanning solution but can also be used to complement or augment other scanners. Point cloud sharpening technology
Stencil’s ease of use, breadth of applications, and streamlined workflow make it Patent-pending technology
the perfect choice for infrastructure inspectors, surveyors, engineers, architects, 1st place Microsoft Indoor Localization Competition 2016 & 2017
facilities planners, security personnel, or anyone who needs an easy way to 1st & 2nd ranking KITTI Vision Benchmark Suite
document the 3D world quickly and dependably.
DS-STN216-009-0519
STENCIL 2-16
POWERED BY KAARTA ENGINE

DIMENSIONS

SAMPLE OUTPUT

Stanford University Quad scanned in 15 minutes Three passes through an intersection correctly registered in post processing using GNSS
in loop closure

GNSS in loop closure: GNSS data showing dropouts over the course of the data collection [left], trajectory data from Stencil 2 with some drift [center], and corrected trajectory in yellow
overlaid on the original GNSS data [right]

Scan of heavily wooded area. Topography can be seen by cropping to terrain. Stencil captured fine details such as overhead wires at this light rail station. The scan’s 72,000,000
points of data were captured in the 20 minute interim time between trains.

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