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HERON MS-2 Color with Control Unit




HERON MS-2 Color



HERON MS-2 Color is an improved version of the MS-2, designed for customers who need to get a rugged configuration along with a point cloud model with images from a 360° panoramic camera. Beside the professional indoor/outdoor 3D real time mapping, localization and change detection capabilities, you can also add a photographic survey. This feature can speed up the objects identification process for facility management projects: in fact, when you integrate 3D and imagery data, you can easily recognize objects difficult to visualize on the point cloud.

HERON MS-2 Color maintains the same technical characteristics of the MS-2: 2cm local accuracy and an estimated global accuracy of 5cm*, as well as the possibility to register a high-res scans on the HERON point cloud. As the MS-2 model, HERON MS-2 Color does not require to run GPS/GNSS antennas, targets, trolleys or frequent calibrations procedures and can be used in any condition.







    • Weight (no Control Unit): 11.25 Kg
    • Weight of Control Unit: 1.4 Kg
    • Time of initialization: ~ 30 sec
    • Working time (with one battery): ~ 3 h
    • Working indoor/outdoor: YES
    • Real time visualization: YES
    • Operating temperature: -10° ; + 40°
    • Storage temperature: -40° ; + 60°
    • Scanning rate: 700.000 points per second
    • Accuracy: local ~ 2 cm | final global ~ 5cm*
    • Final survey resolution: ~ 2 cm
    • Output data: .e57, .las, .ply
    • Sensor: Velodyne HDL-32E
    • Wavelength: 903 nm
    • Range: max 80-100 m | min 1 m
    • Angular FOV (horizontal): 360°
    • Angular FOV (vertical): +10.67° ; -30.67°
    • Laser safety class: 1
    • Battery: NiMH 12V 9Ah
    • Design: Rugged
    Resolution: Full HD
    Max frame rate: 60 FPS
    Horizontal/Vertical FOV: 360°
    Interface: USB 3.0
    35mm equivalent focal length: 1.036 mm
    Depth of focus: 40 cm to ∞
    Automatic color and light balance: Yes
    Automatic exposure control: Yes

    *Global accuracy depends on the effectiveness of the SLAM registration algorithm, which can be influenced by the geometry of the surveyed data. Long paths in absence of loop closures and crossover, but also different conditions as narrow tunnels and stairs can downgrade the global accuracy to 20-50 cm, partially or fully improved using the advanced control parameters available in the HERON® Desktop software. Ask to Gexcel support team for more detailed information on how to get the best results from your HERON® instrument.


    HERON® DESKTOP is specifically designed for HERON® data post-processing and allows you to:

    • Process the acquired data (point clouds and images)
    • Minimize the "drift" effects with a patented bundle adjustment process
    • Moving object filtering
    • Easily go to Reconstructor® HERON add-on for results and deeper data analysis

    HERON® DESKTOP can be easily upgraded adding the unique functionalities for automatic self-localization and real-time change detection and the tool to constrain or integrate 3D point cloud form static scan, UAV or other mobile 3D mapping systems.



    Reconstructor ® HERON add-on allows you to:

    • Apply specific filters for noise reduction
    • Create measurable blueprint exportable in the free GoBlueprint navigator
    • Explore, annotate and measure in street-view style a blueprint and point cloud with overlapped high-resolution spherical imagery
    • Export data to Orbit GT’s 3DM (3D Mapping), Orbit GT’s 3DM PUBLISHER, Verity™ and EdgeWise™

    Reconstructor ® HERON add-on can be easily enriched with Reconstructor ® tool for automatic target less registration and all the features included in Reconstructor ®. Reconstructor ® Mining and Colors add-ons can be also added fro vertical application field


    • Extra batteries
    • Carbon pole for handheld usage
    • Carbon pole for handheld usage
    • Topographic nails for tip
    • Magnetic attachment for car


    • HERON® Desktop - extra licenses
    • Reconstuctor® - software licenses
    • Cloud constrains tool
    • Orbit 3DM.Cloud (for sharing your data on to a SaaS platform)
    • Orbit 3DM feature extraction - content manager or publisher (for GIS connection)
    • ClearEdge Verity (Naviswork plugin)
    • ClearEdge Edgewise (for modelling to Autodesk Revit)


    Respect to the previous HERON MS-1 Color model, the new HERON MS-2 Color presents the following main improvements:

    • the unique and powerful capability to use point clouds data (i.e. from TLS or drone) as constraints to geo-reference or to correct possible drift effects of the SLAM approach;

    • new high-standard color capabilities to dramatically enlarge the fields of work (real-time BIM change detection, geospatial applications, objects recognition for facility management, etc.);

    • the innovative GoBlueprint free tool, compatible with CAD, to provide a fast data delivery generation and visualization directly on the field.









The free tool to manage, visualize and share HERON's 2D maps and projects with colleagues or clients. An effective way to quickly obtain a real measure from your HERON projects.


Free download