Laser scanner with enhanced dymanic range imaging

Patent metadata

Field	Value
Publication number	US-11054546-B2
Application number	US-201916445407-A
Country	US
Kind code	B2
Filing date	Jun 19, 2019
Priority date	Jul 16, 2018
Publication date	Jul 6, 2021
Grant date	Jul 6, 2021

Abstract

A system and method for measuring three-dimensional (3D) coordinates is provided. The method includes rotating a 3D scanner about a first axis, the 3D scanner having a light source, a light receiver and a color camera. A light beams are emitted from the light source and reflected light beams are received with the light receiver. A processor determines 3D coordinates of points on the object based on the emitted light beams and the reflected light beams. For each of the points an intensity value is measured based on the reflected light beams. A color image of the object is acquired with the color camera. The intensity values are fused with the color image to generate an enhanced image, the enhanced image includes color data. Color data is merged with the 3D coordinates of the points. The 3D coordinates of the points are stored with the color data.

First claim

What is claimed is:

1. A method for measuring three-dimensional (3D) coordinates comprising:
rotating a 3D scanner about a first axis, the 3D scanner having a light source, a light receiver and a color camera;
emitting a plurality of light beams from the light source and receiving with the light receiver a plurality of reflected light beams from an object surface within a scan area, the direction of each of the plurality of light beams being determined by a beam steering unit;
determining, with a processor system, 3D coordinates of a collection of points on the object surface within a scan area based at least in part on the plurality of light beams, the plurality of reflected light beams, and the speed of light in air;
measuring for each of the collection of points an intensity value based on the plurality of reflected light beams;
generating a tone mapped image based at least in part on the intensity value;
acquiring at least one color image of the object with the color camera;
fusing the tone mapped image with the at least one color image to generate at least one enhanced image, the at least one enhanced image having color data;
merging color data with the 3D coordinates of the collection of points; and
storing the 3D coordinates of the collection of points with the color data.

2. The method of claim 1 , wherein the at least one color image is in an RGB color model.

3. The method of claim 2 , further comprising converting the at least one color image from the RGB color model to a color model having an intensity channel before fusing the intensity value with the at least one color image.

4. The method of claim 3 , wherein the fusing of the intensity values includes replacing at least a portion of the intensity channel in the at least one color image in the color model with the intensity values.

5. The method of claim 4 , wherein the portion of the intensity channel corresponds to an under-exposed or an over-exposed area of the at least one color image.

6. The method of claim 1 , further comprising generating an 8-bit tone mapped image from the intensity values.

7. The method of claim 6 , wherein the measured intensity values are greater than 8-bit.

8. The method of claim 6 , wherein the measured intensity values are equal to or greater than 11-bit.

9. A three-dimensional (3D) measuring device comprising:
a processor system including at least one of a 3D scanner controller;
a housing;
a 3D scanner disposed within the housing and operably coupled to the processor system, the 3D scanner having a light source, a beam steering unit, a first angle measuring device, a second angle measuring device, and a light receiver, the beam steering unit cooperating with the light source and light receiver to define a scan area, the light source and the light receiver configured to cooperate with the processor system to determine a first distance to a first object point based at least in part on a transmitting of a light by the light source and a receiving of a reflected light by the light receiver, the first distance being further based at least in part on the speed of light in air, the 3D scanner configured to cooperate with the processor system to determine 3D coordinates of the first object point based at least in part on the first distance, a first angle of rotation and a second angle of rotation, the 3D scanner further configured to cooperate with the processor system to measure an intensity value for each reflected light received by the light receiver;
a color camera operably coupled to the housing and having a field of view within the scan area, the color camera configured to cooperate with the processor system to acquire at least one color image of the scan area;
wherein the processor system is further responsive to nontransitory executable computer instructions for generating a tone mapped image based at least in part on the intensity value;
wherein the processor system is further responsive to nontransitory executable computer instructions for fusing the tone mapped image with the at least one color image to generate at least one enhanced image, the at least one enhanced image having color data and merging color data with the 3D coordinates of the collection of points; and
wherein the processor system is further responsive to nontransitory executable computer instructions for storing the 3D coordinates of the collection of points with the color data.

10. The device of claim 9 , wherein the at least one color image is in an RGB color model.

11. The device of claim 10 , wherein the nontransitory executable computer instructions further comprise converting the at least one color image from the RGB color model to a color model having an intensity channel before fusing the intensity value with the at least one color image.

12. The device of claim 11 , wherein the fusing of the intensity values includes replacing at least a portion of the intensity channel in the at least one color image in the color model with the intensity values.

13. The method of claim 12 , wherein the portion of the intensity channel corresponds to an under-exposed or an over-exposed area of the at least one color image.

14. The method of claim 9 , wherein the nontransitory executable computer instructions further comprise generating an 8-bit tone mapped image from the intensity values.

15. The method of claim 14 , wherein the measured intensity values are greater than 8-bit.

16. A three-dimensional measuring system comprising:
a housing that is rotatable about a first axis;
a light source disposed within the housing and operable to emit light beams;
a beam steering unit coupled to the housing and disposed to direct the emitted light beams onto an object surface within a scan area in the environment;
a light receiver disposed within the housing to receive light reflected from the object surface through the beam steering unit, the light receiver being configured to measure an intensity value for each reflected light received by the light receiver;
a color camera operably coupled to the housing, the color camera configured to acquire at least on color image of the scan area; and
a processor system operably coupled to the light source, the beam steering unit, the light receiver and the color camera, the processor system being responsive to nontransitory executable computer instructions to generate a tone mapped image based at least in part on the intensity value, and to generate an enhanced color image based at least in part on the at least one color image and the tone mapped image.

17. The system of claim 16 , wherein the processor system is responsive to executable nontransitory computer instructions which when executed by the processor system is operable to determine 3D coordinates of a collection of points in the scan area.

18. The system of claim 17 , wherein the processor system is responsive to executable nontransitory computer instructions which when executed by the processor system is operable to assign color data to the 3D coordinates of the collection of points based on the enhanced color image.

19. The system of claim 16 , wherein the generating of the enhanced color image includes converting the at least one color image from an RGB color model to a color model having an intensity channel and replacing at least a portion of the intensity channel in the converted at least one color image with intensity values.

20. The system of claim 16 , wherein the processor system is responsive to executable nontransitory computer instructions wh

Assignees

• Faro Tech Inc

Inventors

• Ossig Martin
• Flohr Daniel

Classifications

• G01S17/42 Primary

  Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46) · CPC title

• G01S17/89

  for mapping or imaging · CPC title

• G01S7/51

  Display arrangements · CPC title

• G01S17/36

  with phase comparison between the received signal and the contemporaneously transmitted signal · CPC title

• G01B11/026

  by measuring distance between sensor and object (G01B11/0608 takes precedence) · CPC title