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    Method for optically scanning and measuring an environment
    94.
    发明授权
    Method for optically scanning and measuring an environment 有权

    公开(公告)号：US09645240B1

    公开(公告)日：2017-05-09

    申请号：US15419334

    申请日：2017-01-30

    Applicant: FARO Technologies, Inc.

    Inventor： Martin Ossig ,  Daniel Flohr ,  Dag Frommhold ,  Oliver Knörzer ,  Martin Heide

    IPC: G01B11/30 ,  G01S17/89 ,  G01S7/51 ,  G01S7/48 ,  G01S7/481

    CPC classification number: G01S17/89 ,  G01S7/003 ,  G01S7/4808 ,  G01S7/4817 ,  G01S7/51 ,  G01S17/42

    Abstract: A method for optically scanning, measuring and displaying a point cloud is provided. The method includes emitting, by a laser scanner, an emission light beam and receiving a reflection light beam that is reflected from an object. A control device determines for measurement points projected on a plane corresponding to a screen, wherein at least some measurement points are displayed on a display device. One or more pixels are gap filled to generate a visual appearance of a surface on the display device. Wherein the gap filling includes a first horizontal search in a first direction of a first measured point of the measurement points followed by a second horizontal search in a second direction of the first measured point. The gap filling further includes a first vertical search in a third direction of the measured point, followed by a second vertical search in a fourth direction.

    Device for optically scanning and measuring an environment
    95.
    发明授权
    Device for optically scanning and measuring an environment 有权
    用于光学扫描和测量环境的设备

    公开(公告)号：US09217637B2

    公开(公告)日：2015-12-22

    申请号：US13767175

    申请日：2013-02-14

    Applicant: FARO Technologies, Inc.

    Inventor： Rolf Heidemann ,  Martin Ossig ,  Rasmus Debitsch ,  Gerrit Hillebrand

    IPC: G01B11/24 ,  G01B11/25 ,  G01C11/00 ,  G01C11/02

    CPC classification number: G01B11/2513 ,  G01B11/24 ,  G01B11/25 ,  G01B11/2518 ,  G01C11/00 ,  G01C11/02 ,  G06T7/33 ,  G06T2200/04 ,  G06T2207/10021 ,  G06T2207/10028 ,  G06T2207/20016

    Abstract: A method for optically scanning and measuring an environment by means of a hand-held scanner for producing 3D-scans is provided. The method including providing a hand-held scanner having at least one projector and at least one camera. At least one pattern is projected onto an object in the environment with the at least one projector. At least one camera images of the object which has the pattern projected thereon is recorded with a plurality of frames. Three-dimensional coordinates of points on the surface of the object are determined from each frame in the plurality of frames. A ring closure is determined in the plurality of frames. The determination comprising the steps of forming a frustum for each frame, comparing a last frustum of the last frame with a plurality of frusta to form an intersection, and selecting a frustum having the largest intersection.

    Abstract translation: 提供了一种通过用于产生3D扫描的手持式扫描仪光学扫描和测量环境的方法。 该方法包括提供具有至少一个投影仪和至少一个照相机的手持式扫描器。 使用至少一个投影仪将至少一个图案投影到环境中的物体上。 具有投影在其上的图案的对象的至少一个照相机图像被记录有多个帧。 从多个帧中的每个帧确定对象表面上的点的三维坐标。 在多个帧中确定闭环。 该确定包括以下步骤：为每个框架形成平截头体，将最后一帧的最后平截头体与多个截头圆锥进行比较以形成交叉点，以及选择具有最大交点的平截头体。

    ROBUST INDEX CORRECTION OF AN ANGULAR ENCODER BASED ON READ HEAD RUNOUT
    96.
    发明申请
    ROBUST INDEX CORRECTION OF AN ANGULAR ENCODER BASED ON READ HEAD RUNOUT 有权
    基于阅读头运行的ANGULAR编码器的强大的索引校正

    公开(公告)号：US20150323350A1

    公开(公告)日：2015-11-12

    申请号：US14699043

    申请日：2015-04-29

    Applicant: FARO Technologies, Inc.

    Inventor： Alexander Kramer ,  Martin Ossig ,  Reinhard Becker

    IPC: G01D5/347

    CPC classification number: G01S17/42 ,  G01C15/00 ,  G01D5/24452 ,  G01D5/34707 ,  G01D5/3473 ,  G01D5/366 ,  G01S7/481 ,  G01S7/4817 ,  G01S7/497 ,  G01S7/499 ,  G01S17/08 ,  G01S17/48 ,  G01S17/66 ,  G01S17/89 ,  G02B26/10 ,  G02B26/101

    Abstract: A method is given for finding a reference correction value of an index mark of an angular encoder. The angular encoder includes a first read head, a second read head, and a patterned element having incremental marks and an index mark. In a first instance and in a second instance, the patterned element is rotated relative to the read heads to obtain incremental readings from the first read head and the second read head and an index mark from the first read head. Based on these readings, a processor determines, in the first instance, a first reference position and, in the second instance, a second reference position. The processor determines the reference correction value based at least in part on the first reference position and the second reference position.

    Abstract translation: 给出了找到角度编码器的索引标记的参考校正值的方法。 角度编码器包括第一读取头，第二读取头和具有增量标记和索引标记的图案化元件。 在第一种情况下，在第二种情况下，图案化元件相对于读取头旋转以获得来自第一读取头和第二读取头的增量读数以及来自第一读取头的索引标记。 基于这些读数，处理器首先确定第一参考位置，并且在第二实例中确定第二参考位置。 处理器至少部分地基于第一参考位置和第二参考位置确定参考校正值。

    REGISTERING OF A SCENE DISINTEGRATING INTO CLUSTERS WITH VISUALIZED CLUSTERS
    97.
    发明申请
    REGISTERING OF A SCENE DISINTEGRATING INTO CLUSTERS WITH VISUALIZED CLUSTERS 有权
    注册场景与可视化群集的集群

    公开(公告)号：US20150285913A1

    公开(公告)日：2015-10-08

    申请号：US14671197

    申请日：2015-03-27

    Applicant: FARO Technologies, Inc.

    Inventor： Reinhard Becker ,  Martin Ossig ,  Jurgen Gittinger ,  Helmut Kramer

    IPC: G01S17/42 ,  G01S7/481 ,  G01S17/36

    CPC classification number: G06T7/0075 ,  G01C15/002 ,  G01S7/4808 ,  G01S7/4817 ,  G01S17/42 ,  G01S17/89 ,  G06T7/33 ,  G06T2200/32 ,  G06T2207/10028

    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, if specified quality criteria are fulfilled and the generated clusters are then joined, for which purpose clusters are selected, registered for test purposes and registering is confirmed if appropriate, wherein the clusters to be joined are visualized with an optional possibility for the user to intervene, for supporting the selection of clusters.

    Abstract translation: 一种用于通过三维（3D）测量装置对场景进行光学扫描和测量的方法，其中产生多次扫描然后被登记在场景的联合坐标系中。 首先，从至少一个扫描生成至少一个群集，如果满足了指定的质量标准，并且生成的群集被连接，为了集群选择目的，将进一步的扫描注册到群集的坐标系中的测试目的， 注册用于测试目的，并且如果适当，确认注册，其中要连接的集群被可视化，具有用于用户干预的可选可能性，用于支持集群的选择。

    BALANCING COLORS IN A SCANNED THREE-DIMENSIONAL IMAGE
    99.
    发明申请
    BALANCING COLORS IN A SCANNED THREE-DIMENSIONAL IMAGE 有权
    平衡三维图像中的平衡色

    公开(公告)号：US20150109419A1

    公开(公告)日：2015-04-23

    申请号：US14516609

    申请日：2014-10-17

    Applicant: FARO Technologies, Inc.

    Inventor： Joachim E. Vollrath ,  Martin Ossig

    IPC: H04N13/00 ,  G01C3/02

    CPC classification number: H04N13/15 ,  G01B11/002 ,  G01C3/02 ,  G01C3/08 ,  G01C3/10 ,  G01C11/025 ,  G01C11/08 ,  G01S7/4802 ,  G01S17/42 ,  G01S17/89 ,  H04N13/167

    Abstract: A method of balancing colors of three-dimensional (3D) points measured by a scanner from a first location and a second location. The scanner measures 3D coordinates and colors of first object points from a first location and second object points from a second location. The scene is divided into local neighborhoods, each containing at least a first object point and a second object point. An adapted second color is determined for each second object point based at least in part on the colors of first object points in the local neighborhood.

    Abstract translation: 一种平衡由扫描器从第一位置和第二位置测量的三维（3D）点的颜色的方法。 扫描器测量来自第一位置的第一对象点的3D坐标和颜色以及来自第二位置的第二对象点。 场景分为局部邻域，每个邻域至少包含第一对象点和第二对​​象点。 至少部分地基于本地邻域中的第一对象点的颜色，为每个第二对象点确定适配的第二颜色。

    COLLECTING AND VIEWING THREE-DIMENSIONAL SCANNER DATA IN A FLEXIBLE VIDEO FORMAT
    100.
    发明申请
    COLLECTING AND VIEWING THREE-DIMENSIONAL SCANNER DATA IN A FLEXIBLE VIDEO FORMAT 有权
    在灵活的视频格式中收集和查看三维扫描仪数据

    公开(公告)号：US20150085068A1

    公开(公告)日：2015-03-26

    申请号：US14493426

    申请日：2014-09-23

    Applicant: FARO Technologies, Inc.

    Inventor： Reinhard Becker ,  Martin Ossig

    IPC: G06T3/00 ,  G06T7/00 ,  H04N5/14 ,  H04N5/232

    CPC classification number: G06T3/0087 ,  G01B11/24 ,  G01C3/06 ,  G01C15/002 ,  G01S7/51 ,  G01S17/023 ,  G01S17/89 ,  G06T7/38 ,  G06T7/521 ,  G06T7/579 ,  G06T19/003 ,  G06T2207/10016 ,  G06T2207/10021 ,  H04N5/147 ,  H04N5/23238 ,  H04N13/257 ,  H04N13/324

    Abstract: A method interactively displays panoramic images of a scene. The method includes measuring 3D coordinates of the scene with a 3D measuring instrument at a first position and a second position. The 3D coordinates are registering into a common frame of reference. Within the scene, a trajectory includes a plurality of trajectory points. Along the trajectory, 2D images are generated from the commonly registered 3D coordinates. A user interface provides a trajectory display mode that sequentially displays a collection of 2D images at the trajectory points. The user interface also provides a rotational display mode that allows a user to select a desired view direction at a given trajectory point. The user selects the trajectory display mode or the rotational display mode and sees the result shown on the display device.

    Abstract translation: 一种交互式显示场景全景图像的方法。 该方法包括使用3D测量仪器在第一位置和第二位置处测量场景的3D坐标。 3D坐标正在注册到公共参考系。 在场景内，轨迹包括多个轨迹点。 沿着轨迹，从共同注册的3D坐标生成2D图像。 用户界面提供轨迹显示模式，其在轨迹点处依次显示2D图像的集合。 用户界面还提供旋转显示模式，其允许用户在给定的轨迹点处选择期望的视图方向。 用户选择轨迹显示模式或旋转显示模式，并看到显示设备上显示的结果。

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