Automated generation of a three-dimensional scanner video

Patent metadata

Field	Value
Publication number	US-9761016-B1
Application number	US-201715592367-A
Country	US
Kind code	B1
Filing date	May 11, 2017
Priority date	Sep 24, 2013
Publication date	Sep 12, 2017
Grant date	Sep 12, 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 at a first position;
measuring a second plurality of 3D coordinates of the scene with the 3D measuring instrument at 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 trajectory direction;
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;
displaying the video on a display device based at least in part on the generated 2D images.

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

3. The method of claim 1 , wherein the determining by a processor a trajectory path further includes selecting the trajectory path to avoid obstacles.

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

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

6. The method of claim 1 , wherein the determining by a processor a trajectory path further 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 the 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 at least one of the plurality of trajectory poses has 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 at a third position; and
determining by the processor the trajectory path further based on the third position.

10. The method of claim 9 , wherein the determining by a processor a trajectory path includes placing a portion 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 the determining by a processor a trajectory path further includes selecting a portion of the plurality of trajectory points based at least in part on minimization of a sum of squared distances.

12. The method of claim 1 , wherein the trajectory positions of at least one of the plurality of trajectory points is based at least in part on a curvature of the trajectory path at or adjacent to the at least one point.

13. The method of claim 12 , wherein the curvature is a reciprocal of the radius of curvature of the trajectory path.

14. The method of claim 9 , wherein the trajectory directions of at least a portion of the plurality of trajectory points are based at least in part on separating the plurality of trajectory points into a plurality of clusters.

15. The method of claim 1 , wherein the 3D measuring instrument being a 3D laser scanner.

16. 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.

17. 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

• G06T7/48

  using fractals · CPC title

• G01C15/002

  Active optical surveying means (optical plumbing G01C15/105) · CPC title

• G01S17/86

  Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders · CPC title

• G01B11/24

  for measuring contours or curvatures · CPC title

• G01S17/10

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