公开(公告)号：US20210373165A1

公开(公告)日：2021-12-02

申请号：US17314102

申请日：2021-05-07

Applicant: FARO Technologies, Inc.

Inventor： Mark Brenner ,  Aleksej Frank ,  Ahmad Ramadneh ,  Oliver Zweigle

IPC: G01S17/894 ,  G01S17/04 ,  G01S7/497

Abstract: 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.

公开(公告)号：US11867818B2

公开(公告)日：2024-01-09

申请号：US17314102

申请日：2021-05-07

Applicant: FARO Technologies, Inc.

Inventor： Mark Brenner ,  Aleksej Frank ,  Ahmad Ramadneh ,  Oliver Zweigle

IPC: G01S17/89 ,  G01S17/894 ,  G01S17/04 ,  G01S7/497

CPC classification number: G01S17/894 ,  G01S7/4972 ,  G01S17/04

Abstract: 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.

公开(公告)号：US20220365217A1

公开(公告)日：2022-11-17

申请号：US17737250

申请日：2022-05-05

Applicant: FARO Technologies, Inc.

Inventor： Oliver Zweigle ,  Mark Brenner ,  Aleksej Frank ,  Ahmad Ramadneh

IPC: G01S17/89 ,  G01S7/484 ,  G06V10/77

Abstract: 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.

公开(公告)号：US20220180541A1

公开(公告)日：2022-06-09

申请号：US17457119

申请日：2021-12-01

Applicant: FARO Technologies, Inc.

Inventor： Oliver Zweigle ,  Mark Brenner ,  Aleksej Frank ,  Ahmad Ramadneh ,  Mufassar Waheed ,  Muhammad Umair Tahir

IPC: G06T7/521 ,  G06T7/579 ,  H04N5/225 ,  G06T7/35

Abstract: A three dimensional coordinate measurement device and method of measuring is provided. The device including a housing having a first axis and a second axis. A first depth camera is coupled to the housing, the first depth camera having a first optical axis aligned with the first axis. A second depth camera is coupled to the housing, the second depth camera having a second optical axis disposed on a first angle relative to the first axis. A third depth camera is coupled to the housing, the third depth camera having a third optical axis disposed on a second angle relative to the first axis, the second angle being different than the first angle. A rotational device is coupled to rotate the housing about the second axis.

公开(公告)号：US20180321383A1

公开(公告)日：2018-11-08

申请号：US15784437

申请日：2017-10-16

Applicant: FARO Technologies, Inc.

Inventor： Rolf Heidemann ,  Mark Brenner ,  Simon Raab

IPC: G01S17/66 ,  G01B11/00 ,  H04N13/02

CPC classification number: G01S17/66 ,  G01B11/002 ,  G01B11/2513 ,  G01B11/2545 ,  G06T7/593 ,  G06T2207/10028 ,  G06T2207/30244 ,  H04N13/296

Abstract: A projector projects an uncoded pattern of uncoded spots onto an object, which is imaged by a first camera and a second camera, 3D coordinates of the spots on the object being determined by a processor based on triangulation, the processor further determining correspondence among the projected and imaged spots based at least in part on a nearness of intersection of lines drawn from the projector and image spots through their respective perspective centers.

公开(公告)号：US11936843B2

公开(公告)日：2024-03-19

申请号：US17325956

申请日：2021-05-20

Applicant: FARO Technologies, Inc.

Inventor： Mark Brenner ,  Aleksej Frank ,  Ahmad Ramadneh ,  Mufassar Waheed ,  Oliver Zweigle

IPC: H04N13/261 ,  G01P15/097 ,  G06T15/04 ,  G06T19/00 ,  H04N13/275

CPC classification number: H04N13/261 ,  G01P15/097 ,  G06T15/04 ,  G06T19/00 ,  H04N13/275

Abstract: Techniques are described for converting a 2D map into a 3D mesh. The 2D map of the environment is generated using data captured by a 2D scanner. Further, a set of features is identified from a subset of panoramic images of the environment that are captured by a camera. Further, the panoramic images from the subset are aligned with the 2D map using the features that are extracted. Further, 3D coordinates of the features are determined using 2D coordinates from the 2D map and a third coordinate based on a pose of the camera. The 3D mesh is generated using the 3D coordinates of the features.

公开(公告)号：US11828852B2

公开(公告)日：2023-11-28

申请号：US17314102

申请日：2021-05-07

Applicant: FARO Technologies, Inc.

Inventor： Mark Brenner ,  Aleksej Frank ,  Ahmad Ramadneh ,  Oliver Zweigle

IPC: G01S17/89 ,  G01S17/894 ,  G01S17/04 ,  G01S7/497

CPC classification number: G01S17/894 ,  G01S7/4972 ,  G01S17/04

Abstract: 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.

公开(公告)号：US20230326053A1

公开(公告)日：2023-10-12

申请号：US18129573

申请日：2023-03-31

Applicant: FARO Technologies, Inc.

Inventor： Mufassar Waheed ,  Mark Brenner ,  Matthias Wolke ,  Aleksej Frank

IPC: G06T7/521 ,  G01S17/89

CPC classification number: G06T7/521 ,  G01S17/89 ,  G06T2207/10028

Abstract: A mobile three-dimensional (3D) measuring system includes a 3D measuring device comprising a first sensor and a second sensor. The 3D measuring system further includes a computing system coupled with the 3D measuring device. A computing device is coupled with the computing system. The 3D measuring device continuously transmits a first data from the first sensor, and a second data from the second sensor to the computing system as it is moved in an environment. The computing system generates a 3D point cloud representing the environment. The computing system generates a 2D projection corresponding to the 3D point cloud. The computing device displays the 2D projection as a live feedback of a movement of the 3D measuring device.

公开(公告)号：US11592285B2

公开(公告)日：2023-02-28

申请号：US16541774

申请日：2019-08-15

Applicant: FARO Technologies, Inc.

Inventor： Muhammad Umair Tahir ,  Oliver Zweigle ,  Mark Brenner ,  Michael Müller ,  Simon Raab ,  Steffen Kappes

IPC: G01B11/25

Abstract: Aspects of the present disclosure provide a system for measuring an object, the system including a plurality of frame segments. The frame segments are configured to mechanically couple together to form a frame. The plurality of frame segments includes a plurality of measurement device link segments and each of the plurality of measurement device link segments includes a measurement device which together form a plurality of measurement devices having a field of view within or adjacent to the frame. Each of the plurality of measurement devices is operable to measure three-dimensional (3D) coordinates for a plurality of points on the object. The system further includes a computing device to receive data from the plurality of measurement devices via a network established by the plurality of measurement device link segments.

公开(公告)号：US20230033632A1

公开(公告)日：2023-02-02

申请号：US17965902

申请日：2022-10-14

Applicant: FARO Technologies, Inc.

Inventor： Mark Brenner ,  Aleksej Frank ,  Oliver Zweigle ,  Ahmad Ramadneh ,  Mufassar Waheed

IPC: G06T11/60 ,  G06T7/70 ,  G06T7/11 ,  G06V30/422

Abstract: A system for generating an automatically segmented and annotated two-dimensional (2D) map of an environment includes processors coupled to a scanner to convert a 2D map from the scanner into a 2D image. Further, a mapping system categorizes a first set of pixels from the image into one of room-inside, room-outside, and noise by applying a trained neural network to the image. The mapping system further categorizes a first subset of pixels from the first set of pixels based on a room type if the first subset of pixels is categorized as room-inside. The mapping system also determines the room type of a second subset of pixels from the first set of pixels based on the first subset of pixels by using a flooding algorithm. The mapping system further annotates a portion of the 2D map to identify the room type based on the pixels corresponding to the portion.