Robust laser scanning for generating a 3D model

Patent metadata

Field	Value
Publication number	US-10663591-B2
Application number	US-201715598071-A
Country	US
Kind code	B2
Filing date	May 17, 2017
Priority date	May 17, 2017
Publication date	May 26, 2020
Grant date	May 26, 2020

Abstract

In a method and system for scanning a structure, a structure scanner may acquire multiple scans of a surface of a structure. Each of the scans may correspond to different portions of the surface. The property inspection system may generate a 3D model of the surface using the scans. To account for potential changes in position and/or orientation of the structure scanner between scans, the structure scanner may self-calibrate using a fiducial marker. By correcting for changes in position and orientation over time, the structure scanner may accurately map the scans of the different portions of the surface to a 3D model of the surface.

First claim

We claim:

1. A property inspection system for scanning a structure with one or more structure scanners, the property inspection system comprising
a fiducial marker with a known size and shape at a known location on the surface of the structure;
one or more structure scanners mounted to one or more flying devices, the one or more structure scanners comprising:
a laser tracking device, coupled to the one or more structure scanners, having a transmitter, a timer and a receiver;
a laser scanning device, coupled to the one or more structure scanners, having a transmitter, a timer and a receiver;
at least one processor communicably coupled to the at least one laser tracking device and the at least one laser scanning device;
at least one memory communicably coupled to the at least one processor, wherein the at least one memory includes computer-executable instructions stored therein that, when executed by the at least one processor, cause the at least one processor to:
(A) scan the fiducial marker a first time with the laser tracking device to (i) obtain a first 3D representation of the fiducial marker, and (ii) determine a first orientation and position of the one or more structure scanners based on the first 3D representation of the fiducial marker;
(B) scan a first portion of the surface of the structure with the laser scanning system to obtain a 3D representation of the first portion of surface of the structure;
(C) scan the fiducial marker a second time with the laser tracking device to (i) obtain a second 3D representation of the fiducial marker and (ii) determine a second orientation and position of the one or more structure scanners relative to the first orientation and position of the one or more structure scanners based on the second 3D representation of the fiducial marker; and
(D) scan a second portion of the surface of the structure with the laser scanning system to obtain a 3D representation of the second portion of the surface of the structure; and

one or more data analysis systems communicably coupled to one or more structure scanners, wherein the one or more data analysis systems include at least one memory including computer-executable instructions stored therein that, when executed by a processor of the one or more data analysis systems, cause the one or more data analysis systems to:
(A) receive from the one or more structure scanners the 3D representation of the first portion of the surface of the structure and the 3D representation of the second portion of the surface of the structure;
(B) map the 3D representation of the first portion of the surface of the structure to a 3D model of the structure based on the determined first orientation and position of the one or more structure scanners;
(C) map the 3D representation of the second portion of the surface of the structure to the 3D model of the structure based on the determined second orientation and position of the one or more structure scanners; and
(D) generate an estimation of the condition of the structure based on the 3D model of the structure.

2. The property inspection system of claim 1 , wherein the fiducial marker is one of a three-dimensional marker or two-dimensional marker.

3. The property inspection system of claim 1 , wherein at least one of the laser tracking device and the laser scanning device is a 3D laser scanner.

4. The property inspection system of claim 1 , wherein the memory includes further computer-executable instructions that, when executed, cause the at least one processor to:
adjust one or more of the position, orientation and trajectory of the one or more structure scanners based on the determined second orientation and position of the one or more structure scanners.

5. The property inspection system of claim 4 , wherein the memory includes further computer-executable instructions that, when executed, cause the at least one processor to:
adjust one or more of the position, orientation and trajectory of the one or more structure scanners by maintaining the stability of the one or more structure scanners during the scan.

6. The property inspection system of claim 1 , wherein, in order to determine at least one of a first orientation and position of the one or more structure scanners based on the first 3D representation of the fiducial marker and a second orientation and position of the one or more structure scanners based on the second 3D representation of the fiducial marker, the memory includes further computer-executable instructions that, when executed, cause the at least one processor to:
compare one of the first and second 3D representations of the fiducial marker to a reference 3D representation of the fiducial marker from a known distance and orientation.

7. The property inspection system of claim 6 , wherein, in order to compare one of the first and second 3D representations of the fiducial marker to a reference 3D representation of the fiducial marker from a known distance and orientation, the memory includes further computer-executable instructions that, when executed, cause the at least one processor to:
locate, in the reference 3D representation of the fiducial marker from a known distance and orientation, a unique feature of the fiducial marker;
locate, in the first or second 3D representation of the fiducial marker, a first depiction of the unique feature of the fiducial;
locate, in the first or second 3D representation of the fiducial marker, a second depiction of the unique feature of the fiducial;
calculate the position and orientation of the one or more structure scanners based on a difference between the first and second depictions of the unique feature of the fiducial.

8. The property inspection system of claim 7 , wherein, in order to calculate a difference between the at least one unique feature of the fiducial marker in at least one of the first and second 3D representations of the fiducial marker and the at least one unique feature in the at least one reference 3D representation of the fiducial marker, the memory includes further computer-executable instructions that, when executed, cause the at least one processor to:
calculate one of a difference in size or orientation of the unique feature of the fiducial marker in at least one of the first and second representations of the fiducial marker relative to the unique feature in the reference 3D representation of the fiducial marker.

9. A method for scanning a structure with a one or more structure scanners, the method comprising:
deploying a fiducial marker on a structure;
generating a 3D model of the structure by:
(A) scanning the fiducial marker a first time with a laser tracking device coupled to the one or more structure scanners mounted to one or more flying devices to (i) obtain a first 3D representation of the fiducial marker, and (ii) determine a first orientation and position of the one or more structure scanners based on the first 3D representation of the fiducial marker;
(B) scanning a first portion of the surface of the structure with a laser scanning system to obtain a 3D representation of the first portion of surface of the structure;
(C) mapping the 3D representation of the first portion of the surface of the structure to a 3D model of the structure based on the determined first orientation and position of the one or more structure scanners;
(D) scanning the fiducial marker a second time with the laser tracking device coupled to the one or more structure scanners to (i) obtain a second 3D representation of the fiducial marker and (ii) determine a second orientation and position of the one or more structure scanners relative to the first orientation and position of the one or more structure scanners based on the second 3D repre

Assignees

• State Farm Mutual Automobile Insurance Co
• State Farm Mutal Automobile Insurance Company

Inventors

• Tofte Nathan L
• Boyer Patrick H
• Freeman James M

Classifications

• G01S7/4817

  relating to scanning · CPC title

• G01S7/4808

  Evaluating distance, position or velocity data · CPC title

• G01S17/89 Primary

  for mapping or imaging · CPC title

• G01S17/66

  Tracking systems using electromagnetic waves other than radio waves · CPC title

• G01S7/003

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