Registering of a scene disintegrating into clusters with pairs of scans

Patent metadata

Field	Value
Publication number	US-9245346-B2
Application number	US-201514671387-A
Country	US
Kind code	B2
Filing date	Mar 27, 2015
Priority date	Apr 2, 2014
Publication date	Jan 26, 2016
Grant date	Jan 26, 2016

Abstract

A method for optically scanning and measuring a scene by a three-dimensional (3D) measurement device in which multiple scans are generated to then be registered in a joint coordinate system of the scene. At first at least one cluster is generated from at least one scan, further scans are registered for test purposes in the coordinate system of the cluster, and registering is then confirmed if specified quality criteria are fulfilled and the generated clusters are then joined, for which purpose pairs are formed of selected scans and/or clusters to form pairs, the pairs are registered for test purposes and registering is confirmed if appropriate.

First claim

What is claimed is:

1. A method for optically scanning and measuring a scene by a three-dimensional (3D) measurement device in which multiple scans are generated by the device, and the multiple scans are then registered in a joint coordinate system of the scene, comprising:
generating at least one cluster from at least one scan of the multiple of scans;
registering additional scans from the multiple of scans for test purposes in a coordinate system of the generated at least one cluster;
confirming the registering of the additional scans if specified quality criteria are fulfilled; and
joining clusters generated from the additional scans by selecting at least two scans and/or clusters to form pairs and registering the pairs for test purposes and confirming the registering.

2. The method of claim 1 , wherein the selecting of at least two scans is performed by one of the group consisting of automatically, by a user or by generating an additional scan.

3. The method of claim 1 , wherein the clusters generated from the additional scans are generated by using a limit that is defined for the scans to be registered for test purposes, and the limit is repealed in the case of a selection of the scans and/or the clusters for forming the pairs.

4. The method of claim 1 , wherein quality criteria are used when joining the clusters.

5. The method of claim 1 , wherein the at least two scans selected from the clusters are visualized from the clusters for producing correspondence between targets of the selected at least two scans.

6. The method of claim 1 , wherein during registering of the multiple scans in the joint coordinate system of the scene, a cluster is generated from an additional scan and a registering for test purposes in a coordinate system of the generated cluster takes place and a next scan is generated only after a confirmation of the registering of the pairs for test purposes occurs.

7. The method of claim 6 , wherein after an unsuccessful registering of the pairs for test purposes, and additional scan takes place.

8. The method of claim 1 , wherein registering the pairs for test purposes takes place automatically using targets in overlapping areas of the scans.

9. A three-dimensional (3D) measurement device for carrying out the method of claim 1 , comprising a control and evaluation unit which determines, for a plurality of measuring points of every one of the scans at least a distance from the a center of the 3D measurement device to the object and registers the generated scans in a joint coordinate system of the scene, wherein the center of the laser scanner rests while a scan is made and is movable between the scans.

10. The 3D measurement device of claim 9 , configured as a laser scanner comprising a base, a measuring head which is rotatable with regard to the base, a light emitter which emits an emission light beam, a light receiver which receives a reception light beam which is reflected by an object in the environment of the laser scanner or scattered otherwise, wherein the center of the 3D measurement device rests while a scan is made and is movable between the scans.

Assignees

• Faro Tech Inc

Inventors

• Bartmann Sebastian
• Kramer Helmut
• Pompe Daniel
• Schanz Michael

Classifications

• G06F18/23

  Clustering techniques · CPC title

• G06T7/30 Primary

  Determination of transform parameters for the alignment of images, i.e. image registration · CPC title

• G06T7/0075 Primary

  Physics · mapped topic

• G06T2207/10028

  Range image; Depth image; 3D point clouds · CPC title

• G06T7/0024

  Physics · mapped topic