SL2 Overview

Our sensors are named SL for subsea LiDAR. The 3D at Depth SL sensors were designed to address the needs of the subsea construction, survey, and inspection industry in terms of range, accuracy, field of view, depth, and integration. The result is a system that integrates a unique optical design, a custom high sensitivity receiver, a sub-nanosecond pulsed high peak power solid state laser, high speed electronics, and patented processing methods to provide the accuracy and ranges required for subsea measurement tasks. The SL1 and SL2 have an embedded MEMS motion sensor to calibrate pitch and roll and create real world reference frames.  This overcomes the inability to “level” a subsea sensor.  The system also comes with an onboard computing subsystem and 750GB internal hard drive as well as a 64Gb internal solid state drive for fast performance and flexibility. For real time data QC and data pre processing, the system includes a computer with 3D at Depth software for collection (3D Collect), viewing (QuickView) and the creation of LAS and 3DC files (3D Cloud).  3DC is a proprietary compression format which allows operators to move data across low bandwidth networks – from vessels to on shore processing teams. The next generation subsea LiDAR system builds on the performance of the SL1 but with a different configuration.  The SL2 includes the same internal components of the SL1, has the same performance but in two housings.  This dual housing configuration provides a small (13.4 inch – 340 mm) optical head that now supports an integrated PAN and Tilt unit. The multi axis motion increases the field of view to 90° x 360° for a tripod mounted system and  90° x 180° on an ROV.  The smaller optical head provides more mounting options including support for AUV’s and smaller vehicles. Download a PDF version of the SL2 Datasheet:  

SL2 Specifications (445.0 KB)

SL2-O-Tilt SL2-O-UBolt Electronics
SL2 Optical Housing – with an integrated Pan and Tilt SL2 Optical Housing SL2 Electronics Housing

Depth Rating1500 meters
Operating Temperature32°C to -5°C
Optical Housing Length13.4 inches (340 mm)
Optical Housing Diameter (OD)6.9 inches (175 mm)
Optical Housing weight in air 39 lbs. (17.7 kg)
Optical Housing weight in water22 lbs. (10 kg)
Electronics Housing Length14 inches (355mm)
Electronics Housing Diameter (OD)6.9 inches (175mm)
Electronics Housing weight in air30 lbs (13.6 kg)
Electronics Housing weight in water6 lbs (2.7 kg)
Laser classClass 1 (air) to Class 3B (Subsea)
Measurement MethodTime of Flight (ToF) PulsedPulse Repetition Rate 40kHz
Data sampling rate40 kHz
Field of View 30° x 30° (Azimuth and Elevation) x 330° pan - total field of view is 30° x 360°Programmable scan paths within the field of view
RangeMinimum: ~ 2m Maximum: ~ 45mDepends on water conditions and target reflectivity. Can be modeled for specific conditions.
Range precision±6mm @ 2-40m, 1σ
Per scan point to point accuracy±4mm, 1σ Single measurement at 20 meter range
Beam footprint@10m = 4.5mm, @20m = 8.6mm
Pan and Tilt encoder accuracy±0.05°
Spatial resolutionMaximum resolution of 1 mm between pointsPoint collected at every 0.01° in azimuth and elevation
3D Collect - Graphical User Interface (GUI)Point and click interface to control the sensor and capture and process datasetsScripting available for automated collection
Integrated pan/tilt controlIntegrated software control interface for a single z-axis pan rotation motor and encoder (SL1) and dual axis pan tilt (SL2)
Standard point cloud output formats.LAS, .e57 formatsLatest industry standard point cloud format
3D Cloud Point Cloud Processing toolmulti-return processor generates point clouds automaticallyclutter and SNR filters embedded
CommunicationsTCP/IPSL1 connects through a standard TCP/IP connection
Laser specificationClass 1 / Class IIIB Programmable safety settings
Peak power consumption110 Wattsnominal
Power supply24V DCoptional AC power unit available