Capturing environmental scans using landmarks based on semantic features

Patent metadata

Field	Value
Publication number	US-11867818-B2
Application number	US-202117314102-A
Country	US
Kind code	B2
Filing date	May 7, 2021
Priority date	May 29, 2020
Publication date	Jan 9, 2024
Grant date	Jan 9, 2024

Abstract

A method for performing a simultaneous location and mapping of a scanner device includes detecting a set of lines in a point cloud, and identifying a semantic feature based on the set of lines. The method further includes assigning a first scan position of the scanner device in the surrounding environment at the present time t 1 as a landmark, and linking the landmark with the portion of the map. The method further includes determining that the scanner device has moved, at time t 2 , to the scan position that was marked as the landmark based on identifying said semantic feature in another scan-data. In response, a second scan position at time t 2 is determined. Also, a displacement vector is determined for the map based on a difference between the first scan position and the second scan position. Subsequently, a revised second scan position is computed based on the displacement vector.

First claim

What is claimed is:

1. A system comprising:
a scanner device configured to capture scan-data of surrounding environment; and
one or more processors operably coupled to the scanner, wherein the one or more processors are operable to perform simultaneous locating and mapping of the scanner device in the surrounding environment, which comprises:
capture the scan-data of a portion of a map of the surrounding environment, wherein the scan-data comprises a point cloud;
detect a set of lines in the point cloud;
identify a semantic feature based at least in part on the set of lines;
assign a first scan position of the scanner device in the surrounding environment at the present time t 1 as a landmark;
link the landmark with the portion of the map;
determine that the scanner device has moved, at time t 2 , to the scan position that was marked as the landmark based on identifying said semantic feature in another scan-data from the scanner device, and in response:
determine a second scan position of the scanner device at time t 2 ;
determine a displacement vector for the map based on a difference between the first scan position and the second scan position;
compute a revised second scan position based on the second scan position and the displacement vector; and
register the scan-data using the revised scan position;

determine a constraint by computing a relationship between a first measurement and a second measurement of the semantic feature, the first measurement captured from the first scan position, and the second measurement captured from a third scan position; and
perform the simultaneous locating and mapping by using the constraint.

2. The system of claim 1 , the one or more processors are operable to assign a unique identifier to the landmark.

3. The system of claim 1 , wherein the semantic feature comprises a line-segment of at least a predetermined length.

4. The system of claim 1 , wherein the semantic feature comprises two line-segments crossing each other.

5. The system of claim 4 , wherein the two line-segments form an angle of at least a predetermined value.

6. The system of claim 4 , wherein the two line-segments cross each other at 90 degrees.

7. The system of claim 1 , wherein the scanner is equipped on a movable platform.

8. A method for performing a simultaneous location and mapping of a scanner device in a surrounding environment, the method comprising:
capturing the scan-data of a portion of a map of the surrounding environment, wherein the scan-data comprises a point cloud;
detecting a set of lines in the point cloud;
identifying a semantic feature based at least in part on the set of lines;
assigning a first scan position of the scanner device in the surrounding environment at the present time t 1 as a landmark;
linking the landmark with the portion of the map;
determining that the scanner device has moved, at time t 2 , to the scan position that was marked as the landmark based on identifying said semantic feature in another scan-data from the scanner device, and in response:
determining a second scan position of the scanner device at time t 2 ;
determining a displacement vector for the map based on a difference between the first scan position and the second scan position;
computing a revised second scan position based on the second scan position and the displacement vector; and
registering the scan-data using the revised scan position;

determining a constraint by computing a relationship between a first measurement and a second measurement of the semantic feature, the first measurement captured from the first scan position, and the second measurement captured from a third scan position; and
performing the simultaneous location and mapping by using the constraint.

9. The method of claim 8 , the method further comprises assigning a unique identifier to the landmark.

10. The method of claim 8 , wherein the semantic feature comprises a line-segment of at least a predetermined length.

11. The method of claim 8 , wherein the semantic feature comprises two line-segments crossing each other.

12. The method of claim 11 , wherein the two line-segments form an angle of at least a predetermined value.

13. The method of claim 11 , wherein the two line-segments cross each other at 90 degrees.

14. The method of claim 8 , wherein the scanner is equipped on a movable platform.

15. A non-transitory computer-readable medium having program instructions embodied therewith, the program instructions readable by a processor to cause the processor to perform a method performing a simultaneous location and mapping of a scanner device in a surrounding environment, the method comprising:
capturing the scan-data of a portion of a map of the surrounding environment, wherein the scan-data comprises a point cloud;
detecting a set of lines in the point cloud;
identifying a semantic feature based at least in part on the set of lines;
assigning a first scan position of the scanner device in the surrounding environment at the present time t 1 as a landmark;
linking the landmark with the portion of the map;
determining that the scanner device has moved, at time t 2 , to the scan position that was marked as the landmark based on identifying said semantic feature in another scan-data from the scanner device, and in response:
determining a second scan position of the scanner device at time t 2 ;
determining a displacement vector for the map based on a difference between the first scan position and the second scan position;
computing a revised second scan position based on the second scan position and the displacement vector; and
registering the scan-data using the revised scan position;

determining a constraint by computing a relationship between a first measurement and a second measurement of the semantic feature, the first measurement captured from the first scan position, and the second measurement captured from a third scan position; and
performing the simultaneous location and mapping by using the constraint.

16. The computer program product of claim 15 , wherein the semantic feature comprises a line-segment of at least a predetermined length.

17. The computer program product of claim 15 , wherein the semantic feature comprises two line-segments of at least a predetermined length crossing each other.

Assignees

• Faro Tech Inc

Inventors

• Brenner Mark
• Frank Aleksej
• Ramadneh Ahmad
• Zweigle Oliver

Classifications

• G01S17/894 Primary

  Three-dimensional [3D] imaging with simultaneous measurement of time-of-flight at a two-dimensional [2D] array of receiver pixels, e.g. time-of-flight cameras or flash lidar · CPC title

• G01S7/4972

  Alignment of sensor · CPC title

• G01S17/04

  Systems determining the presence of a target · CPC title

• G01S17/89 Primary

  for mapping or imaging · CPC title

• G01C21/165

  combined with non-inertial navigation instruments · CPC title