公开(公告)号：US11719651B2

公开(公告)日：2023-08-08

申请号：US17340902

申请日：2021-06-07

Applicant: FARO Technologies, Inc.

Inventor： Ariane Stiebeiner ,  Georgio Balatzis ,  Simon Raab ,  Stefan Wagner

IPC: G01N23/046 ,  G01N23/20025 ,  G06F30/20

CPC classification number: G01N23/046 ,  G01N23/20025 ,  G06F30/20 ,  G01N2223/3075

Abstract: A system and method of inspecting a plurality of objects using a computed tomography (CT) system is provided. The method includes acquiring an image of a fixture used for holding the plurality of objects with the CT system. A first electronic model of the fixture is generated. The objects are placed in the fixture. An image of the fixture and the objects is acquired with the CT system. A second electronic model of the fixture and the objects is generated. A third electronic model of the objects is defined based at least in part on subtracting the first electronic model from the second electronic model. Dimensions of the objects from the third electronic model are compared with a computer aided design (CAD) model. A report is output based at least in part on the comparison of the objects from the third electronic model with the CAD model.

公开(公告)号：US20230228565A1

公开(公告)日：2023-07-20

申请号：US18123752

申请日：2023-03-20

Applicant: FARO Technologies, Inc.

Inventor： Johannes Buback ,  Igor Sapina ,  Julian Becker ,  Martin Ossig ,  Aleksej Frank ,  Ahmad Ramadneh ,  Oliver Zweigle ,  João Santos

IPC: G01C3/02 ,  G01B5/008 ,  G01B11/00 ,  G01S17/06 ,  G01C21/16

CPC classification number: G01C3/02 ,  G01B5/008 ,  G01B11/005 ,  G01S17/06 ,  G01C21/1656 ,  G06T7/70

Abstract: A system and method for measuring three-dimensional (3D) coordinate values of an environment is provided. The system includes a movable base unit a first scanner and a second scanner. One or more processors performing a method that includes causing the first scanner to determine first plurality of coordinate values in a first frame of reference based at least in part on a measurement by at least one sensor. The second scanner determines a second plurality of 3D coordinate values in a second frame of reference as the base unit is moved from a first position to a second position. The determining of the first coordinate values and the second plurality of 3D coordinate values being performed simultaneously. The second plurality of 3D coordinate values are registered in a common frame of reference based on the first plurality of coordinate values.

公开(公告)号：US11692811B2

公开(公告)日：2023-07-04

申请号：US16802887

申请日：2020-02-27

Applicant: FARO Technologies, Inc.

Inventor： Oliver Zweigle ,  João Santos ,  Aleksej Frank ,  Ahmad Ramadneh ,  Muhammad Umair Tahir ,  Tobias Boehret

IPC: G01B11/00 ,  G01S7/4865 ,  G02B26/10 ,  G01S17/89

CPC classification number: G01B11/002 ,  G01S7/4865 ,  G01S17/89 ,  G02B26/105

Abstract: A system and method for measuring three-dimensional (3D) coordinate values of an environment is provided. The method including moving a 2D scanner through the environment. A 2D map of the environment is generated using the 2D scanner. A path is defined through the environment using the 2D scanner. 3D scan locations along the path are defined using the 2D scanner. The 2D scanner is operably coupled to a mobile base unit. The mobile base unit is moved along the path based at least in part on the 2D map and the defined path. 3D coordinate values are measured at the 3D scan locations with a 3D scanner, the 3D scanner being coupled to the mobile base unit.

公开(公告)号：US11683465B2

公开(公告)日：2023-06-20

申请号：US16747200

申请日：2020-01-20

Applicant: FARO Technologies, Inc.

Inventor： Rolf Heidemann ,  Matthias Wolke ,  Christoph Neundorf

IPC: H04N13/239 ,  H04N13/254 ,  H04N23/74

CPC classification number: H04N13/239 ,  H04N13/254 ,  H04N23/74

Abstract: An imaging device and method of imaging a region. The imaging device includes a first camera and a first light source set at a periphery of the first camera, a second camera separated from the first camera by a selected distance and a second light source set at a periphery of the second camera, and a processor configured to operate the first light source set and the second light source set independently of each other. The region is illuminated using the first light source and a first image is obtained. The region is illuminated using the second light source and a second image is obtained. At least one of the first image and the second image includes an illumination effect.

公开(公告)号：US20230153967A1

公开(公告)日：2023-05-18

申请号：US17903152

申请日：2022-09-06

Applicant: FARO Technologies, Inc.

Inventor： Denis Wohlfeld ,  Nithin Bhardwaj ,  Ilia Krets ,  Heiko Bauer

IPC: G06T5/50 ,  G06T7/10 ,  H04N13/25 ,  G06T7/00 ,  H04N5/232

CPC classification number: G06T5/50 ,  G06T7/10 ,  H04N13/25 ,  G06T7/0002 ,  H04N5/23238 ,  G06T2207/10024 ,  G06T2207/20084 ,  G06T2207/10028 ,  G06T2207/30168

Abstract: A system includes a three-dimensional (3D) scanner, a camera, and one or more processors coupled with the 3D scanner and the camera. The processors capture a frame that includes a point cloud comprising plurality of 3D scan points and a 2D image. A 3D scan point represents a distance of a point in a surrounding environment from the 3D scanner. A pixel represents a color of a point in the surrounding environment. The processors identify, using a machine learning model, a subset of pixels that represents a reflective surface in the 2D image. Further, for each pixel in the subset of pixels, one or more corresponding 3D scan points is determined. An updated point cloud is created in the frame by removing the corresponding 3D scan points from the point cloud.

公开(公告)号：US11609090B2

公开(公告)日：2023-03-21

申请号：US17178591

申请日：2021-02-18

Applicant: FARO Technologies, Inc.

Inventor： Johannes Buback ,  Igor Sapina ,  Julian Becker ,  Martin Ossig ,  Aleksej Frank ,  Ahmad Ramadneh ,  Oliver Zweigle ,  João Santos

IPC: G01B11/00 ,  G01C3/02 ,  G01B5/008 ,  G01S17/06 ,  G01C21/16 ,  G06T7/70

Abstract: A system and method for measuring three-dimensional (3D) coordinate values of an environment is provided. The system includes a movable base unit a first scanner and a second scanner. One or more processors performing a method that includes causing the first scanner to determine first plurality of coordinate values in a first frame of reference based on an emitted first beam of light and a received first reflected light. The second scanner determines a second plurality of 3D coordinate values in a second frame of reference as the base unit is moved from a first position to a second position. The determining of the first coordinate values and the second plurality of 3D coordinate values being performed simultaneously. The second plurality of 3D coordinate values are registered in a common frame of reference based on the first plurality of coordinate values.

公开(公告)号：US20220392091A1

公开(公告)日：2022-12-08

申请号：US17750551

申请日：2022-05-23

Applicant: FARO Technologies, Inc.

Inventor： Heiko Bauer ,  Tobias Boehret ,  Denis Wohlfeld

IPC: G06T7/521 ,  G06T7/70 ,  G01S17/89

Abstract: A method for updating a digital representation of an environment includes capturing an image of a portion of the environment using a change-detection device. Further, a corresponding digital data is determined that represents the portion in the digital representation of the environment. A change in the portion is detected by comparing the image with the corresponding digital data. In response to the change being above a predetermined threshold, the method includes initiating a resource-intensive scan of the portion using a scanning device, and updating the digital representation of the environment by replacing the corresponding digital data representing the portion with the resource-intensive scan.

公开(公告)号：US11521349B2

公开(公告)日：2022-12-06

申请号：US16126099

申请日：2018-09-10

Applicant: FARO Technologies, Inc.

Inventor： Manuel Caputo ,  Louis Bergmann

IPC: G06T15/40 ,  G06T15/00

Abstract: A virtual reality (VR) system that includes a three-dimensional (3D) point cloud having a plurality of points, a VR viewer having a current position, a graphics processing unit (GPU), and a central processing unit (CPU). The CPU determines a field-of-view (FOV) based at least in part on the current position of the VR viewer, selects, using occlusion culling, a subset of the points based at least in part on the FOV, and provides them to the GPU. The GPU receives the subset of the plurality of points from the CPU and renders an image for display on the VR viewer based at least in part on the received subset of the plurality of points. The selecting a subset of the plurality of points is at a first frame per second (FPS) rate and the rendering is at a second FPS rate that is faster than the first FPS rate.

公开(公告)号：US20220351415A1

公开(公告)日：2022-11-03

申请号：US17678116

申请日：2022-02-23

Applicant: FARO Technologies, Inc.

Inventor： Jafar Amiri Parian ,  Martin Ossig ,  Hani Kaabi

IPC: G06T7/90 ,  G06T19/20 ,  G06T7/80 ,  G06V10/75 ,  G06T3/40 ,  H04N5/232 ,  H04N17/00 ,  G01S17/86 ,  G01S17/89 ,  G01S7/497

Abstract: A system includes a three-dimensional (3D) scanner that captures a 3D point cloud corresponding to one or more objects in a surrounding environment. The system further includes a camera that captures a control image by capturing a plurality of images of the surrounding environment, and an auxiliary camera configured to capture an ultrawide-angle image of the surrounding environment. One or more processors of the system colorize the 3D point cloud using the ultrawide-angle image by mapping the ultrawide-angle image to the 3D point cloud. The system performs a limited system calibration before colorizing each 3D point cloud, and a periodic full system calibration before/after a plurality of 3D point clouds are colorized.

公开(公告)号：US20220343600A1

公开(公告)日：2022-10-27

申请号：US17584613

申请日：2022-01-26

Applicant: FARO Technologies, Inc.

Inventor： Romain Fournet

IPC: G06T17/20 ,  G06T7/90 ,  G06T7/60

Abstract: Automatic selection of region in 3D point cloud is provided. Neighbor points are determined for given seed point of seed points. Responsive to a color difference of a given neighbor point from given seed point being less than neighbor color distance threshold and responsive to an angle between a normal of given neighbor point and a normal of given seed point being less than neighbor normal angle threshold, given neighbor point is added to region in 3D point cloud. Responsive to curvature at given neighbor point being less than curvature threshold, responsive to color difference of given neighbor point from initial seed point being less than initial seed color distance threshold and responsive to an angle between a normal of given neighbor point and a normal of initial seed point being less than an initial seed normal angle, given neighbor point is added to seed points for processing.