公开(公告)号：US11927692B2

公开(公告)日：2024-03-12

申请号：US17070330

申请日：2020-10-14

Applicant: FARO Technologies, Inc.

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

IPC: G01C3/08 ,  G01S7/48 ,  G01S17/86 ,  G01S17/87 ,  G01S17/89

CPC classification number: G01S7/4808 ,  G01S17/86 ,  G01S17/87 ,  G01S17/89

Abstract: A method and system for generating a three-dimensional (3D) map of an environment is provided. An example method includes receiving a 3D scan and portions of a 2D map of the environment and receiving coordinates of the scan position in the 2D map. The method further includes associating the coordinates of the scan position with the portion of the 2D map. The method further includes linking the coordinates with the portion of the 2D map. The method further includes storing submap data for each of the plurality of submaps into a data object associated respective submaps. The method further includes performing a loop closure algorithm on each of the plurality of submaps. The method further includes, for each of the plurality of submaps for which the position anchor of the submap changed during performing the loop closure algorithm, determining a new data object position for the data objects.

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：US20230324558A1

公开(公告)日：2023-10-12

申请号：US18131330

申请日：2023-04-05

Applicant: FARO Technologies, Inc.

Inventor： Mufassar Waheed

IPC: G01S17/894 ,  G01S7/481

CPC classification number: G01S17/894 ,  G01S7/4817

Abstract: A mobile 3D measuring system includes a 3D measuring device comprising a sensor that emits a plurality of scan lines in a field of view of the sensor. The 3D system further includes a field of view manipulator coupled with the 3D measuring device, the field of view manipulator comprising a passive optic element that redirects a first scan line from the plurality of scan lines. The 3D system further includes a computing system coupled with the 3D measuring device. The 3D measuring device continuously transmits a captured data from the sensor to the computing system as the 3D measuring device is moved in an environment, the captured data is based on receiving reflections corresponding to the plurality of scan lines, including a reflection of the first scan line that is redirected. The computing system generates a 3D point cloud representing the environment based on the captured data.

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.

公开(公告)号：US20220410401A1

公开(公告)日：2022-12-29

申请号：US17702904

申请日：2022-03-24

Applicant: FARO Technologies, Inc.

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

IPC: B25J9/16 ,  B25J13/08

Abstract: 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.