Automated generation of a three-dimensional scanner video

Patent metadata

Field	Value
Publication number	US-9652852-B2
Application number	US-201514944430-A
Country	US
Kind code	B2
Filing date	Nov 18, 2015
Priority date	Sep 24, 2013
Publication date	May 16, 2017
Grant date	May 16, 2017

Abstract

A method for automatically generating a three-dimensional (3D) video of a scene by measuring and registering 3D coordinates at a first position and a second position of a 3D measuring device, the 3D video generated by combining two-dimensional images extracted at trajectory points along a trajectory path.

First claim

The invention claimed is:

1. A method of automatically generating a three-dimensional (3D) video of a scene, the method comprising:
measuring a first plurality of 3D coordinates of the scene with a 3D measuring instrument placed in a first frame of reference, the 3D instrument being placed in a first position;
measuring a second plurality of 3D coordinates of the scene with the 3D measuring instrument placed in a second frame of reference, the 3D instrument being placed in a second position different than the first position;
registering the first plurality of 3D coordinates and the second plurality of 3D coordinates together in a common plurality of 3D coordinates, the common plurality of 3D coordinates being in a common frame of reference;
determining by a processor a trajectory path, the trajectory path having a plurality of trajectory poses for a corresponding plurality of trajectory points on the trajectory path, each trajectory pose having a trajectory position and a corresponding trajectory direction, the trajectory path and the plurality of trajectory poses based at least in part on the first position, the second position, and a first mathematical algorithm;
generating for each trajectory point a two-dimensional (2D) image based at least in part on the corresponding trajectory pose and the common plurality of 3D coordinates;
generating the video based at least in part on the generated 2D images; and
displaying the video on a display device.

2. The method of claim 1 wherein, in determining by a processor a trajectory path, the first mathematical algorithm includes placing some of the plurality of trajectory points at equal intervals along a straight line connecting the first position and the second position.

3. The method of claim 1 wherein, in determining by a processor a trajectory path, the first mathematical algorithm includes selecting the trajectory path to avoid obstacles, the selecting based at least in part on the common plurality of 3D coordinates.

4. The method of claim 1 wherein, in measuring a first plurality of 3D coordinates of the scene with a 3D measuring instrument, the 3D measuring instrument further includes a 2D camera configured to capture 2D images of the scene.

5. The method of claim 4 wherein, in determining by a processor a trajectory path, the first mathematical algorithm includes selecting the trajectory path to avoid obstacles, the selecting based at least in part on a first captured 2D image obtained from the 2D camera.

6. The method of claim 1 wherein, in determining by a processor a trajectory path, the first mathematical algorithm includes selecting the trajectory path to avoid obstacles, the selecting based at least in part on a drawing.

7. The method of claim 6 wherein, in determining by a processor a trajectory path, the first drawing is selected from the group consisting of: an architectural drawing and a computer-aided design (CAD) drawing.

8. The method of claim 1 wherein some of the plurality of trajectory poses have a trajectory direction aimed at a focus point within the scene.

9. The method of claim 1 further including:
measuring a third plurality of 3D coordinates of the scene with the 3D measuring instrument placed in a third frame of reference, the 3D instrument being placed in a third position;
registering the third plurality of 3D coordinates within the common plurality of 3D coordinates; and
determining by the processor the trajectory path further based on the third position.

10. The method of claim 9 wherein, in determining by a processor a trajectory path, the first mathematical algorithm includes placing some of the plurality of trajectory points on a spline, the spline based at least in part on the first position, the second position, and the third position.

11. The method of claim 9 wherein, in determining by a processor a trajectory path, the first mathematical algorithm includes selecting some of the plurality of trajectory points based at least in part on an optimization rule that minimizes a sum of squared distances.

12. The method of claim 1 wherein, in determining by a processor a trajectory path, the trajectory positions of at least some of the plurality of trajectory points are based at least in part on a curvature of the trajectory path in a vicinity of the trajectory points, the curvature being a reciprocal of the radius of curvature of the trajectory path.

13. The method of claim 9 further wherein, in determining by a processor a trajectory path, the trajectory directions of at least some of the plurality of trajectory points are based at least in part on separating the plurality of trajectory points into a plurality of clusters.

14. The method of claim 1 wherein, in measuring a first plurality of 3D coordinates of the scene with a 3D measuring instrument, the 3D measuring instrument being a 3D laser scanner.

15. The method of claim 14 wherein, in measuring a first plurality of 3D coordinates of the scene with a 3D measuring instrument, the laser scanner includes a transmitter, a receiver, and a beam-steering mechanism.

16. The method of claim 15 wherein measuring a first plurality of 3D coordinates of the scene with a 3D measuring instrument further includes:
sending a beam of light from the transmitter to the beam steering mechanism;
launching a plurality of measuring beams from the beam steering mechanism to a plurality of measuring points in a volume of space, the measuring beams launched sequentially;
receiving a plurality of reflected beams that are a portion of the measuring beams reflected by the measuring points;
determining a plurality of distances to the measuring points based at least in part on propagation times of the measuring beams and the reflected beams; and
determining the first plurality of 3D coordinates based at least in part on the plurality of distances.

Assignees

• Faro Tech Inc

Inventors

• Becker Reinhard
• Ossig Martin
• Flohr Daniel
• Pompe Daniel

Classifications

• G06T2207/10021

  Stereoscopic video; Stereoscopic image sequence · CPC title

• G06T2207/30244

  Camera pose · CPC title

• G06T7/48

  using fractals · CPC title

• G01S17/10

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

• G06T2207/10016

  Video; Image sequence · CPC title