Robust laser scanning for generating a 3D model

Patent metadata

Field	Value
Publication number	US-12468039-B2
Application number	US-202318212568-A
Country	US
Kind code	B2
Filing date	Jun 21, 2023
Priority date	May 17, 2017
Publication date	Nov 11, 2025
Grant date	Nov 11, 2025

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 computer-implemented method for inspecting a structure, the method comprising:
scanning, by a laser tracking device, a three-dimensional (3D) biodegradable fiducial marker located on a structure, the 3D biodegradable fiducial marker having unique 3D surface features; scanning, by a laser scanning device, a surface of the structure; transmitting, via a communication link to a base station, the scan of the 3D biodegradable fiducial marker and the scan of the surface of the structure; estimating, by one or more processors at the base station, a position and orientation of the laser tracking device relative to the 3D biodegradable fiducial marker based upon the scan of the 3D biodegradable fiducial marker; generating, by the one or more processors, 3D data points based upon the scan of the surface of the structure; adjusting, by the one or more processors, the 3D data points based upon the position and orientation of the laser tracking device relative to the 3D biodegradable fiducial marker; constructing, by the one or more processors, a 3D model of the surface of the structure based upon the adjusted 3D data points; and generating, by the one or more processors, an estimate of a condition of the structure based upon an analysis of the 3D model of the structure.

2 . The computer-implemented method of claim 1 , wherein the laser scanning device is configured to:
(a) transmit, via a transmitter, a plurality of laser pulses from a transmitter; (b) receive, via a receiver, a plurality of reflected laser pulses from the surface of the structure; and (c) measure, via a timer, a time-of-flight based on the received pulses, wherein the time-of-flight measurement is used to determine one or more distances from the laser scanning device to one or more points on the surface.

3 . The computer-implemented method of claim 1 , wherein the condition of the structure comprises at least one of a divot in a roof of the structure, an imperfection on the surface of the structure, a broken roof tile of the structure, and moisture damage to the structure.

4 . The computer-implemented method of claim 1 , wherein the laser tracking device and the laser scanning device are included in a structure scanner mounted to a flying device.

5 . The computer-implemented method of claim 4 , wherein the structure scanner is communicatively coupled to the base station via a tether.

6 . The computer-implemented method of 4 , wherein the structure scanner is configured to continuously self-calibrate.

7 . The computer-implemented method of claim 1 , wherein the structure comprises at least one of a residential structure, a commercial structure, an industrial structure, an agricultural structure, and an educational structure.

8 . A property inspection system for inspecting a structure, comprising:
a three-dimensional (3D) biodegradable fiducial marker at a location on the surface of the structure, the 3D biodegradable fiducial marker having unique 3D surface features; a laser tracking device configured to scan the 3D biodegradable fiducial marker; a laser scanning device configured to scan a surface of the structure; and a base station communicatively coupled to the laser scanning device and the laser tracking device, including one or more processors configured to:
(a) receive the scan of the 3D biodegradable fiducial marker and the scan of the surface of the structure;
(b) estimate a position and orientation of the laser tracking device relative to the 3D biodegradable fiducial marker based upon the scan of the 3D biodegradable fiducial marker;
(c) generate 3D data points based upon the scan of the surface of the structure;
(d) adjust the 3D data points based upon the position and orientation of the laser tracking device relative to the 3D biodegradable fiducial marker;
(e) construct a 3D model of the surface of the structure based upon the adjusted 3D data points; and
(f) generate an estimate of a condition of the structure based upon an analysis of the 3D model of the structure.

9 . The property inspection system of claim 8 , wherein the laser scanning tracking device is further configured to:
(a) transmit, via a transmitter, a plurality of laser pulses from a transmitter; (b) receive, via a receiver, a plurality of reflected laser pulses from the surface of the structure; and (c) measure, via a timer, a time-of-flight based on the received pulses, wherein the time- of-flight measurement determines one or more distances from the laser scanning device to one or more points on the surface.

10 . The property inspection system of claim 8 , wherein the condition of the structure comprises at least one of a divot in a roof of the structure, an imperfection on the surface of the structure, a broken roof tile of the structure, and moisture damage to the structure.

11 . The property inspection system of claim 8 , wherein the laser tracking device and the laser scanning device are included in a structure scanner mounted to a flying device.

12 . The property inspection system of claim 11 , wherein the structure scanner is communicatively coupled to the base station via a tether.

13 . The property inspection system of claim 11 , wherein the structure scanner is configured to continuously self-calibrate.

14 . The property inspection system of claim 8 , wherein the structure comprises at least one of a residential structure, a commercial structure, an industrial structure, an agricultural structure, and an educational structure.

15 . A non-transitory computer-readable storage medium configured to store computer-readable instructions for inspecting a structure using a laser tracking device configured to scan a three dimensional (3D) biodegradable fiducial marker having unique 3D surface features located on a surface of the structure and a laser scanning device configured to scan a surface of the structure, wherein the instructions when executed by one or more processors of a base station communicatively coupled to the laser tracking device and the laser scanning device, cause the one or more processors to:
receive the scan of the 3D biodegradable fiducial marker and the scan of the surface of the structure; estimate a position and orientation of the laser tracking device relative to the 3D biodegradable fiducial marker based upon the scan of the 3D biodegradable fiducial marker; generate 3D data points based upon the scan of the surface of the structure; adjust the 3D data points based upon the position and orientation of the laser tracking device relative to the 3D biodegradable fiducial marker; construct a 3D model of the surface of the structure based upon the adjusted 3D data points; and generate an estimate of a condition of the structure based upon an analysis of the 3D model of the structure.

16 . The computer-readable storage medium of claim 15 , wherein the laser tracking device and the laser scanning device are included in a structure scanner mounted to a flying device.

17 . The computer-readable storage medium of claim 15 , wherein the condition of the structure comprises at least one of a divot in a roof of the structure, an imperfection on the surface of the structure, a broken roof tile of the structure, and moisture damage to the structure.

Assignees

• State Farm Mutual Automobile Insurance Co

Inventors

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

Classifications

• B64U2101/30

  for imaging, photography or videography · CPC title

• G01S17/42

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

• G01S7/003

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

• G01S17/66

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

• G01S17/10

  using transmission of interrupted, pulse-modulated waves (determination of distance by phase measurements G01S17/32) · CPC title