Registration calculation of three-dimensional scanner data performed between scans based on measurements by two-dimensional scanner

Patent metadata

Field	Value
Publication number	US-10067231-B2
Application number	US-201514882601-A
Country	US
Kind code	B2
Filing date	Oct 14, 2015
Priority date	Oct 5, 2012
Publication date	Sep 4, 2018
Grant date	Sep 4, 2018

Abstract

A method for measuring and registering three-dimensional (3D) coordinates by measuring 3D coordinates with a 3D scanner in a first registration position, measuring two-dimensional (2D) coordinates with a 2D scanner while moving from the first registration position to a second registration position, measuring 3D coordinates with the 3D scanner at the second registration position, and determining a correspondence among targets in the first and second registration positions while moving between the second registration position and a third registration position.

First claim

What is claimed is:

1. A method for measuring and registering three-dimensional (3D) coordinates comprising:
fixedly locating a measuring device in a first registration position, the measuring device including a 3D scanner and a two-dimensional (2D) scanner, both mounted on a moveable platform, the 2D scanner configured to sweep a beam of light in a horizontal plane;
obtaining with the 3D scanner, while in the first registration position, 3D coordinates of a first collection of points on an object, the 3D scanner configured to determine the 3D coordinates of the first collection of points by projecting a beam of light onto the object and obtaining for each point in the first collection of points a distance and two angles in response, the distance based at least in part on a speed of light in air;
obtaining by the 2D scanner a first plurality of 2D scan sets by sweeping a beam of light in a horizontal plane while the measuring device moves from the first registration position to a second registration position, each of the first plurality of 2D scan sets being a set of 2D coordinates of points on the object, each of the first plurality of 2D scan sets being collected by the 2D scanner at a different position relative to the first registration position;
determining for the measuring device a first translation value corresponding to a first translation direction, a second translation value corresponding to a second translation direction, and a first rotation value corresponding to a first orientational axis, wherein the first translation value, the second translation value, and the first rotation value are determined based at least in part on a fitting of the first plurality of 2D scan sets according to a first mathematical criterion;
obtaining with the 3D scanner, while in the second registration position, 3D coordinates of a second collection of points on the object;
determining by the measuring device, while the measuring device moves from the second registration position to a third registration position, a correspondence among registration targets present in both the first collection of points and the second collection of points, the correspondence based at least in part on the first translation value, the second translation value, and the first rotation value; and
storing the first translation value, the second translation value, and the first rotation value.

2. The method of claim 1 further comprising: determining 3D coordinates of a first registered 3D collection of points based at least in part on a second mathematical criterion, the correspondence among the registration targets present in both the first collection of points and the second collection of points, the 3D coordinates of the first collection of points, and the 3D coordinates of the second collection of points.

3. The method of claim 1 wherein, in fixedly locating a measuring device in a first registration position, the moveable platform includes motorized wheels configured to move under computer control.

4. The method of claim 1 wherein, in obtaining with the 3D scanner, while in the second registration position, 3D coordinates of a second collection of points on the object, the measuring device is further configured to respond to a stopping signal to cause the 3D scanner to automatically start measurement of the second collection of points.

5. The method of claim 1 wherein, in obtaining by the 2D scanner a first plurality of 2D scan sets while the measuring device moves from the first registration position to a second registration position, a distance moved between the first registration position and the second registration position is based at least in part on one of the first plurality of 2D scan sets.

6. The method of claim 1 wherein, in determining by the measuring device, while the measuring device moves from the second registration position to a third registration position, a correspondence among registration targets present in both the first collection of points and the second collection of points, the measuring device further determines a quality of the correspondence.

7. The method of claim 6 wherein, in determining by the measuring device, while the measuring device moves from the second registration position to a third registration position, a correspondence among registration targets present in both the first collection of points and the second collection of points, the measuring device provides a notification when the quality of the correspondence is below a quality threshold.

8. The method of claim 2 wherein, in determining by the measuring device, while the measuring device moves from the second registration position to a third registration position, a correspondence among registration targets present in both the first collection of points and the second collection of points, the measuring device moves to a revised second registration position, the revised second registration position being closer to the first registration position than the second registration position.

9. The method of claim 1 wherein, in determining by the measuring device, while the measuring device moves from the second registration position to a third registration position, a correspondence among registration targets present in both the first collection of points and the second collection of points, the determining is performed at least in part by a computing device located on the measuring device.

10. The method of claim 1 wherein, in determining by the measuring device, while the measuring device moves from the second registration position to a third registration position, a correspondence among registration targets present in both the first collection of points and the second collection of points, the computing device receives the first plurality of 2D scan sets from the 2D scanner, the 3D coordinates of a first collection of points from the 3D scanner, and the 3D coordinates of the second collection of points from the 3D scanner.

11. The method of claim 1 wherein, in determining by the measuring device, while the measuring device moves from the second registration position to a third registration position, a correspondence among registration targets present in both the first collection of points and the second collection of points, the measuring device cooperates with an external computing device not a part of the measuring device to determine the correspondence among registration targets.

12. The method of claim 11 wherein, in determining by the measuring device, while the measuring device moves from the second registration position to a third registration position, a correspondence among registration targets present in both the first collection of points and the second collection of points, the measuring device sends to the external computing device, through a wireless communication channel, the first plurality of 2D scan sets from the 2D scanner, the 3D coordinates of a first collection of points from the 3D scanner, and the second collection of points from the 3D scanner.

13. The method of claim 2 wherein, in determining 3D coordinates of a first registered 3D collection of points based at least in part on a second mathematical criterion, the determining is performed at least in part by an external computing device not a part of the measuring device.

14. The method of claim 2 further including obtaining by the 2D scanner a second plurality of 2D scan sets while the measuring device moves from the second registration position to a third registration position, each of the second plurality of 2D scan sets being collected by the 2D scanner at a different position relative to the sec

Assignees

• Faro Tech Inc

Inventors

• Zweigle Oliver
• Becker Bernd-Dietmar
• Becker Reinhard

Classifications

• G01C15/002

  Active optical surveying means (optical plumbing G01C15/105) · CPC title

• G01S7/4813

  Housing arrangements · CPC title

• G01S17/89

  for mapping or imaging · CPC title

• G01S7/003

  Transmission of data between radar, sonar or lidar systems and remote stations · CPC title

• G09B29/004

  Map manufacture or repair; Tear or ink or water resistant maps; Long-life maps (printing processes for maps B41M3/02; by permanently attaching map sections to sheets B42B7/00) · CPC title