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公开(公告)号：EP4109137A1
公开(公告)日：2022-12-28
申请号：EP22175605.9
申请日：2022-05-26
摘要： A system includes a transporter robot with a motion controller that changes the transporter robot's poses during transportation. A scanning device is fixed to the transporter robot. One or more processors are coupled to the transporter robot and the scanning device to generate a map of the surrounding environment. At a timepoint T1, when the transporter robot is stationary at a first location, a first pose of the transporter robot is captured. During transporting the scanning device, at a timepoint T2, the scanning device captures additional scan-data of a portion of the surrounding environment. In response, the motion controller provides a second pose of the transporter robot at T2. A compensation vector and a rotation for the scan-data are determined based on a difference between the first pose and the second pose. A revised scan-data is computed, and the revised scan-data is registered to generate the map.
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公开(公告)号：EP3792663A1
公开(公告)日：2021-03-17
申请号：EP20195114.2
申请日：2020-09-08
发明人： BUBACK, Johannes , SAPINA, Igor , BECKER, Julian , OSSIG, Martin , FRANK, Aleksej , RAMADNEH, Ahmad , ZWEIGLE, Oliver , SANTOS, João
摘要： A system and method for measuring three-dimensional (3D) coordinate values of an environment is provided. The system includes a movable base unit and a 2D scanner. A 3D scanner is coupled to the base unit, the 3D scanner measuring 3D coordinates and grey values of surfaces in the environment, the 3D scanner operating in either a compound or helical mode. Processors perform a method comprising: causing the 3D scanner to measure a first 3D coordinate values while operating in one of the compound or helical mode as the base unit is moved from the first to the second position; causing the 3D scanner to measure a second 3D coordinate values while operating in compound mode when the base unit is stationary between the first and second position; and registering the first 3D coordinate values and second 3D coordinate values into a single frame of reference.
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公开(公告)号：EP4332631A1
公开(公告)日：2024-03-06
申请号：EP23193908.3
申请日：2023-08-29
摘要： A mobile three-dimensional (3D) measuring system includes a 3D measuring device (120) to capture 3D data in a multi-level architecture (e.g., a building), and an orientation sensor to estimate an altitude. One or more processing units coupled with the 3D measuring device and the orientation sensor perform a method that includes receiving a first portion of the 3D data captured by the 3D measuring device. The method further includes determining a level index based on the altitude. The level index indicates a level of the multi-level architecture at which the first portion is captured. The level index is associated with the first portion. Further, a map of the multi-level architecture is generated using the first portion, the generating comprises registering the first portion with a second portion of the 3D data responsive to the level index of the first portion being equal to the level index of the second portion. A "constraint" refers to a part/point in the environment that is scanned multiple times, and hence can be used as a reference. Aspects of the technical solutions facilitate differentiating between single-level constraints (i.e., similarities that are physically located on the same level/floor) and multi-level constraints (i.e., similarities among portions of physically different levels/floors). If similar portions are found and captured on the same floor, these are registered with each other. An operator carries a scanner (120) which includes two sensors (122, 126) mounted on supporting mounts (2).
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公开(公告)号：EP4089442A1
公开(公告)日：2022-11-16
申请号：EP22172252.3
申请日：2022-05-09
摘要： A method for performing a simultaneous location and mapping of a scanner device in a surrounding environment includes capturing a scan-data of a portion of a map of the surrounding environment. The scan-data comprises a point cloud. Further, at runtime, a user-interface is used to make, a selection of a feature from the scan-data, and a selection of a submap that was previously captured. The submap includes the same feature. The method further includes determining a first scan position as a present position of the scanner device, and determining a second scan position as a position of the scanner device. The method further includes determining a displacement vector for the map based on the first and the second scan positions. Further, a revised first scan position is computed based on the second scan position and the displacement vector. The scan-data is registered using the revised first scan position.
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5.发明公开
公开(公告)号：EP3583580A1
公开(公告)日：2019-12-25
申请号：EP18707467.9
申请日：2018-02-08
发明人： FRANK, Aleksej , ZWEIGLE, Oliver
IPC分类号： G06T19/00
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公开(公告)号：EP4258015A1
公开(公告)日：2023-10-11
申请号：EP23166834.4
申请日：2023-04-05
IPC分类号： G01S7/481 , G01C21/16 , G01C21/00 , G01S17/42 , G01S17/86 , G01S17/89 , G01S17/931 , G01S7/48 , G01S7/51 , F16M13/04
摘要： A mobile three-dimensional (3D) measuring system includes a 3D measuring device, and a support apparatus. The 3D measuring device is coupled to the support apparatus. The support apparatus includes a pole mount that includes a gimbal at the top of the pole mount, wherein the 3D measuring device is attached to the gimbal. The support apparatus further includes a counterweight at the bottom of the pole mount, the counterweight matches a weight of the 3D measuring device.
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公开(公告)号：EP4012333A1
公开(公告)日：2022-06-15
申请号：EP21212959.7
申请日：2021-12-07
发明人： WAHEED, Mufassar , BOEHRET, Tobias , BRENNER, Mark , ZWEIGLE, Oliver , FRANK, Aleksej , RAMADNEH, Ahmad
IPC分类号： G01C15/00
摘要： Scanner stabilizing systems are described. The systems include a moving base configured to receive a scanner, at least one motor operably connected to the base to control at least one of an orientation and a position of the moving base about an axis, at least one mounting structure configured to fixedly attached to a mobile apparatus and wherein the at least one motor is attached to a respective one of the at least one mounting structures, and a stabilization controller operably connected to the at least one motor, wherein the stabilization controller is configured to maintain an orientation of the scanner relative to an environment.
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8.发明公开
公开(公告)号：EP3486862A1
公开(公告)日：2019-05-22
申请号：EP18207174.6
申请日：2018-11-20
发明人： FRANK, Aleksej , WOLKE, Matthias , ZWEIGLE, Oliver
IPC分类号： G06T1/00
摘要： A system and method for scanning an environment and generating an annotated 2D map is provided. The system includes a 2D scanner having a light source, an image sensor and a first controller. The first controller determines a distance value to at least one of the object points. The system further includes a 360° camera having a movable platform, and a second controller that merges the images acquired by the cameras to generate an image having a 360° view in a horizontal plane. The system also includes processors coupled to the 2D scanner and the 360° camera. The processors are responsive to generate a 2D map of the environment based at least in part on a signal from an operator and the distance value. The processors being further responsive for acquiring a 360° image and integrating it at a location on the 2D map.
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公开(公告)号：EP3916422A1
公开(公告)日：2021-12-01
申请号：EP21175494.0
申请日：2021-05-24
摘要： A method for performing a simultaneous location and mapping of a scanner device includes detecting a set of lines in a point cloud, and identifying a semantic feature based on the set of lines. The method further includes assigning a first scan position of the scanner device in the surrounding environment at the present time t1 as a landmark, and linking the landmark with the portion of the map. The method further includes determining that the scanner device has moved, at time t2, to the scan position that was marked as the landmark based on identifying said semantic feature in another scan-data. In response, a second scan position at time t2 is determined. Also, a displacement vector is determined for the map based on a difference between the first scan position and the second scan position. Subsequently, a revised second scan position is computed based on the displacement vector.
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10.发明公开
公开(公告)号：EP3745159A1
公开(公告)日：2020-12-02
申请号：EP20177079.9
申请日：2020-05-28
发明人： RAMADNEH, Ahmad , FRANK, Aleksej , ZWEIGLE, Oliver , SANTOS, João , RAAB, Simon
摘要： Provided are embodiments including a system for automatically generating a plan of scan locations for performing a scanning operation where the system includes a storage medium that is coupled to a processor. The processor is configured to receive a map of an environment, apply a distance transform to the map, wherein the distance transform determines a path through the map, wherein the path comprises a plurality of points, and identify a set of candidate scan locations based on the path. The processor is also configured to select scan locations from the set of candidate scan locations for performing 3D scans, and perform the 3D scans of the environment based on the selected scan locations. Also provided are embodiments for a method and computer program product for automatically generating a plan of scan locations for performing a scanning operation.
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