Method and apparatus for using gestures to control a laser tracker

Patent metadata

Field	Value
Publication number	US-9910126-B2
Application number	US-201715621392-A
Country	US
Kind code	B2
Filing date	Jun 13, 2017
Priority date	May 1, 2013
Publication date	Mar 6, 2018
Grant date	Mar 6, 2018

Abstract

A method and system are provided for controlling a measurement device remotely through gestures performed by a user. The method includes providing a relationship between a command and a gestures. A gesture is performed by the user with the user's body that corresponds to the user gesture. The gesture performed by the user is detected. A command is determined based at least in part on the detected gesture. Then the command is executed with the laser tracker.

First claim

What is claimed is:

1. A method for a user to control operation of a measurement device, the method comprising:
providing a relationship between a command and a gesture, the gesture corresponding to a body position of the user;
providing the measurement device, the measurement device measuring in operation three-dimensional coordinates of a point on a surface based at least in part on light from a first light projected from a first light source of the measurement device;
projecting a second light beam from a second light source and acquiring an image of a user;
generating, at a processor, a skeletal model of the user from the image;
capturing, by a camera, the body position of the user corresponding to the gesture;
identifying, at the processor, from the skeletal model the performing by the user of the gesture;
determining, at the processor, the command based at least in part on the identifying of the gesture; and
executing, at the processor, the command with the measurement device.

2. The method of claim 1 , wherein command is to acquire a retroreflector.

3. The method of claim 1 , wherein the second light beam includes a structured light pattern, and the image includes at least a portion of the structured light pattern.

4. The method of claim 1 , wherein the generating the skeletal model includes determining three dimensional coordinates of the user's body.

5. The method of claim 1 , further comprising:
providing a gesture filter that includes information of the gesture performed by the user as interpreted through the skeletal model,
wherein the identifying of the gesture is based at least in part on the gesture filter.

6. The method of claim 5 , wherein the gesture filter includes a plurality of inputs and a plurality of outputs.

7. The method of claim 6 , wherein the plurality of inputs includes at least one of joint data, RGB color data and a rate of change of an aspect of the user.

8. The method of claim 6 , wherein the plurality of outputs includes at least one of confidence level and a speed of motion of the gesture.

9. The method of claim 1 , wherein the command further comprises:
identifying an area containing the retroreflector from the image; and
reorienting the measurement device to acquire the retroreflector based at least in part on the identifying of the area.

10. The method of claim 1 , wherein the command is to acquire a retroreflector by performing with the measurement device a spiral search pattern to acquire the retroreflector.

11. The method of claim 10 , wherein the body position includes a pointing of a finger by the user at an object.

12. The method of claim 11 , further comprising
identifying based at least in part on the skeletal model the object in the image the user is pointing at; and
repositioning the measurement device to project the first light beam toward the object.

13. The method of claim 12 , wherein the object is a first retroreflector.

14. The method of claim 13 further comprising a plurality of retroreflectors, wherein the plurality of retroreflectors includes the first retroreflector.

15. The method of claim 12 , further comprising:
identifying based at least in part on the skeletal model a point on the object the user is pointing at; and
determining three-dimensional coordinates of the point.

16. The method of claim 1 , further comprising:
determining that the user is in the image;
acquiring with the camera a proceeding image;
aligning the proceeding image with the image; and
identifying foreground shapes.

17. The method of claim 16 , wherein at least one of the foreground shapes is the user.

18. The method of claim 17 , further comprising subtracting the image from the proceeding image to identify foreground shapes.

19. The method of claim 18 , further comprising tracking a movement of the user from the image to the proceeding image.

Assignees

• Faro Tech Inc

Inventors

• Bridges Robert E
• Parker David H
• Fletcher Kelley

Classifications

• G01S17/86

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

• G01S17/66

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

• G01S3/786 Primary

  the desired condition being maintained automatically · CPC title

• G06T7/254

  involving subtraction of images · CPC title

• G06T7/194

  involving foreground-background segmentation · CPC title