Method for creating a spatial model with a hand-held distance measuring device

Patent metadata

Field	Value
Publication number	US-10140756-B2
Application number	US-201615378956-A
Country	US
Kind code	B2
Filing date	Dec 14, 2016
Priority date	Dec 14, 2015
Publication date	Nov 27, 2018
Grant date	Nov 27, 2018

Abstract

Method for creating a spatial model of a target object with a hand-held distance measuring device, the device comprising a laser distance meter, a camera, a computing unit and a data storage device, the method comprising measuring with the laser distance meter one or more distances to the target object from different positions, storing the measured distances in the data storage device, capturing with the camera a plurality of images of the target object, wherein each of the measured distances is associated with one of the captured images, determining with the computing unit relative camera poses for the plurality of images, and calculating with the computing unit based on the plurality of images and on the determined relative camera poses a three-dimensional geometry of the target object.

First claim

What is claimed is:

1. A method for creating a spatial model of a target object with a hand-held distance measuring device, the device comprising a laser distance meter, a camera, a computing unit and a data storage device, the method comprising:
measuring with the laser distance meter one or more distances to a planar or substantially planar surface of the target object,
storing the one or more measured distances in the data storage device,
capturing with the camera a plurality of images of the surface of the target object from different positions, wherein each of the measured distances is associated with one of the captured images,
determining with the computing unit relative camera poses for the plurality of images, and
calculating with the computing unit based on the plurality of images and on the determined relative camera poses a three-dimensional geometry of the target object, wherein,
after the three-dimensional geometry has been calculated, the method further comprises:
retrieving at least one of the measured distances from the data storage device, and
adding a scale to the three-dimensional geometry to obtain the spatial model of the target object, wherein the scale is calculated based on the at least one retrieved distance and calculating the scale comprises:
identifying a measurement point to which a distance is measured by the laser distance meter in one or more images that are not associated with the respective distance; and
determining three-dimensional coordinates of the measurement point by means of forward intersection.

2. The method according to claim 1 , wherein:
calculating the three-dimensional geometry is performed by means of a Structure-from-Motion algorithm or a Simultaneous Localization and Mapping algorithm of the computing unit.

3. The method according to claim 1 , wherein:
the spatial model comprises image data of the images and a multitude of spatial coordinates obtained by means of feature extraction in the images and using the three-dimensional geometry.

4. The method according to claim 1 , wherein:
the three-dimensional geometry is calculated without a scale.

5. The method according to claim 1 , wherein:
the three-dimensional geometry is calculated with a preliminary scale, and adding the scale comprises replacing the preliminary scale with the scale that is based on the at least one retrieved distance.

6. The method according to claim 1 , wherein:
a first distance of the plurality of distances to the target object is measured simultaneously or basically simultaneously with the capturing of a first image of the plurality of images, wherein the first distance is associated with the first image.

7. The method according to claim 1 ,
wherein a user of the device is guided by the device to perform the steps of measuring distances to the surface and capturing images of the surface.

8. The method according to claim 1 , wherein:
for calculating the scale, a point of the three-dimensional geometry is identified that has the smallest orthogonal distance to the laser distance measurement emission direction.

9. The method according to claim 8 , wherein a laser spot generated by the laser distance meter in the course of the at least one distance measurement is identified in an image.

10. The method according to claim 1 , wherein:
for calculating the scale, the laser distance measurement emission direction is intersected with a plane described by at least three points of the three-dimensional geometry, or with an object surface model, particularly obtained by meshing of a sparse or dense point cloud.

11. The method according to claim 10 , wherein the plane is obtained by meshing of a sparse or dense point cloud.

12. The method according to claim 1 , wherein:
for calculating the scale, a dense matching algorithm is used to obtain a pixel location of a laser distance measurement in at least one image not associated with the same laser distance measurement,
wherein a rough estimate of the scale is obtained by identifying a closest point or by using an intersection of an emission direction with the object surface model, and the rough estimate of the scale is refined using the dense matching algorithm.

13. The method according to claim 1 , wherein capturing the plurality of images comprises
recording an image stream or a video stream.

14. The method according to claim 6 , wherein every distance of the plurality of distances to the target object is measured simultaneously or basically simultaneously with the capturing of an image of the plurality of images.

15. The method according to claim 1 , wherein:
for calculating the scale, a Semi-Global Matching algorithm is used to obtain a pixel location of a laser distance measurement in at least one image not associated with the same laser distance measurement,
wherein a rough estimate of the scale is obtained by identifying the closest point or by using the intersection of the emission direction with the object surface model, and the rough estimate of the scale is refined using the Semi-Global Matching algorithm.

16. A hand-held distance measuring device for creating a spatial model of a target object, the device comprising a laser distance meter, a camera, a computing unit, a display device and a data storage device, wherein:
the display device is configured to display the spatial model,
the laser distance meter is adapted to measure distances to a planar or substantially planar surface of the target object into a direction defined by an emission axis,
the camera is configured to capture images of the surface of the target object, wherein each measured distance is associated with a captured image,
the data storage device is configured to store the measured distances, and
the computing unit is configured to determine relative poses of the images and to calculate, based on the images and on the determined relative poses a three-dimensional geometry of the target object, wherein:
the computing unit is configured, after having calculated the three-dimensional geometry:
to retrieve at least one of the measured distances from the data storage device, and
to add a scale to the three-dimensional geometry to obtain the spatial model of the target object,
wherein the scale is calculated based on the at least one retrieved distance and wherein calculating the scale comprises:
identifying a measurement point to which a distance is measured by the laser distance meter in one or more images that are not associated with the respective distance; and
determining three-dimensional coordinates of the measurement point by means of forward intersection.

17. The hand-held distance measuring device according to claim 16 , wherein:
the camera is a wide-angle camera having a camera angle of at least 80°.

18. The hand-held distance measuring device according to claim 16 , further comprising a plurality of cameras, wherein the images are wide-angle images assembled from individual images of the plurality of cameras, wherein the angle range acquired by each of the images comprises at least 80°.

19. The hand-held distance measuring device according to claim 18 , wherein the angle range acquired by each of the images comprises at least 120°.

20. The hand-held distance measuring device according to claim 16 , comprising:
a plurality of laser distance meters for simultaneously measuring a plurality of distances to different points of the target object.

21. The hand-held distance measuring device according to

Assignees

• Leica Geosystems Ag

Inventors

• Van Der Zwan Elmar Vincent
• Metzler Bernhard
• Ammer Thomas
• BOEHRER Nicolas
• Helmberger Michael

Classifications

• G01S17/86

  Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders · CPC title

• G01C11/08

  the pictures not being supported in the same relative position as when they were taken · CPC title

• G06T17/00 Primary

  Three-dimensional [3D] modelling for computer graphics · CPC title

• G06T7/579

  from motion · CPC title

• G01S17/08

  for measuring distance only (indirect measurement G01S17/46; active triangulation systems G01S17/48) · CPC title