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    USING A TWO-DIMENSIONAL SCANNER TO SPEED REGISTRATION OF THREE-DIMENSIONAL SCAN DATA
    21.
    发明申请
    USING A TWO-DIMENSIONAL SCANNER TO SPEED REGISTRATION OF THREE-DIMENSIONAL SCAN DATA 有权
    使用二维扫描仪来加速三维扫描数据的注册

    公开(公告)号：US20150160347A1

    公开(公告)日：2015-06-11

    申请号：US14559290

    申请日：2014-12-03

    Applicant: FARO Technologies, Inc.

    Inventor： Oliver Zweigle ,  Bernd-Dietmar Becker ,  Reinhard Becker

    IPC: G01S17/88 ,  G01B11/00

    CPC classification number: G01S17/42 ,  B25J13/08 ,  G01B11/002 ,  G01B11/272 ,  G01C7/04 ,  G01C15/002 ,  G01S7/003 ,  G01S7/4808 ,  G01S7/4813 ,  G01S7/4817 ,  G01S17/023 ,  G01S17/36 ,  G01S17/87 ,  G01S17/88 ,  G01S17/89 ,  G05D1/024 ,  G05D1/0274 ,  G05D2201/0207 ,  G09B29/004

    Abstract: A method for measuring and registering 3D coordinates has a 3D scanner measure a first collection of 3D coordinates of points from a first registration position. A 2D scanner collects horizontal 2D scan sets as 3D measuring device moves from first to second registration positions. A processor determines first and second translation values and a first rotation value based on collected 2D scan sets. 3D scanner measures a second collection of 3D coordinates of points from second registration position. Processor adjusts second collection of points relative to first collection of points based at least in part on first and second translation values and first rotation value. Processor identifies a correspondence among registration targets in first and second collection of 3D coordinates, and uses this correspondence to further adjust the relative position and orientation of first and second collection of 3D coordinates.

    Abstract translation: 用于测量和记录3D坐标的方法具有3D扫描仪，测量来自第一登记位置的点的3D坐标的第一集合。 当3D测量装置从第一到第二注册位置移动时，2D扫描器收集水平2D扫描组。 处理器基于收集的2D扫描集合来确定第一和第二平移值以及第一旋转值。 3D扫描仪测量来自第二注册位置的点的3D坐标的第二集合。 处理器至少部分地基于第一和第二平移值和第一旋转值来调整相对于第一采集点的第二收集点。 处理器识别3D坐标的第一和第二集合中的注册目标之间的对应关系，并且使用该对应关系来进一步调整第一和第二3D坐标集合的相对位置和取向。

    Capturing environmental scans using automated transporter robot
    22.
    发明授权
    Capturing environmental scans using automated transporter robot 有权

    公开(公告)号：US12053895B2

    公开(公告)日：2024-08-06

    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

    CPC classification number: B25J9/1697 ,  B25J9/1653 ,  B25J9/1664 ,  B25J13/089

    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.

    A SYSTEM AND METHOD OF GENERATING A FLOORPLAN
    24.
    发明申请
    A SYSTEM AND METHOD OF GENERATING A FLOORPLAN 有权

    公开(公告)号：US20230003546A1

    公开(公告)日：2023-01-05

    申请号：US17850084

    申请日：2022-06-27

    Applicant: FARO Technologies, Inc.

    Inventor： Mark Brenner ,  Aleksej Frank ,  Oliver Zweigle

    IPC: G01C21/00

    Abstract: A system and method of generating a two-dimensional (2D) image of an environment is provided. The system includes a scanner having a first light source, an image sensor, a second light source and a controller, the second light source emitting a visible light, the controller determining a distance to points based on a beam of light emitted by the first light source and receiving of the reflected beam of light from the points. Processors are operably coupled to the scanner execute a method comprising: generating a map of the environment; emitting light from the second light source towards an edge defined by at least a pair of surfaces; detecting the edge based on emitting a second beam of light and receiving the reflected second beam of light; and defining a room on the map based on the detecting of the corner or the edge.

    Using virtual landmarks during environment scanning
    25.
    发明授权
    Using virtual landmarks during environment scanning 有权

    公开(公告)号：US11463680B2

    公开(公告)日：2022-10-04

    申请号：US17079875

    申请日：2020-10-26

    Applicant: FARO Technologies, Inc.

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

    IPC: H04N13/296 ,  H04N13/204 ,  H04N5/225 ,  H04N5/247 ,  G06T7/70 ,  G01S7/48 ,  G01S17/894

    Abstract: Generating a three-dimensional (3D) map of an environment includes receiving, via a 3D-scanner that is mounted on a moveable platform, a 3D-scan of the environment while the moveable platform moves through the environment. The method further includes receiving via a two-dimensional (2D) scanner that is mounted on the moveable platform, a portion of a 2D-map of the environment, and receiving first coordinates of the scan position in the 2D-map. The method further includes associating the scan position with the portion of the 2D-map as a virtual landmark. In response to the movable platform being brought back at the virtual landmark, a displacement vector for the 2D-map is determined based on a difference between the first coordinates and a second coordinates that are determined for the scan position. A revised scan position is calculated based on the displacement vector, and the revised scan position is used to register the 3D-scan.

    System and method of automatic re-localization and automatic alignment of existing non-digital floor plans
    26.
    发明授权
    System and method of automatic re-localization and automatic alignment of existing non-digital floor plans 有权

    公开(公告)号：US11461526B2

    公开(公告)日：2022-10-04

    申请号：US16999224

    申请日：2020-08-21

    Applicant: FARO Technologies, Inc.

    Inventor： Oliver Zweigle ,  Aleksej Frank ,  Joao Santos ,  Ahmad Ramadneh

    IPC: G06F30/39 ,  G06F30/392 ,  G06T11/00 ,  G01R33/00 ,  G01C19/00 ,  G01P15/00

    Abstract: A system and method of automatic re-localization of a handheld scanning device in a previously mapped environment is provided. The system includes a two-dimensional (2D) scanner and one or more processors operably coupled to the 2D scanner. The one or more processors are responsive to non-transitory executable instructions for performing operations that include determining a current location of the 2D scanner in the environment relative to a location in a previously generated 2D image of the environment that was generated based on an image of a non-digital floorplan. The operations also include generating a new 2D image of at least a subset of the environment. The at least a subset of the environment includes the current location of the 2D scanner and at least one other location in the environment. The operations further include overlapping portions of the previously generated 2D image and the new 2D image.

    SYSTEM AND METHOD OF SCANNING AN ENVIRONMENT AND GENERATING TWO DIMENSIONAL IMAGES OF THE ENVIRONMENT
    27.
    发明申请
    SYSTEM AND METHOD OF SCANNING AN ENVIRONMENT AND GENERATING TWO DIMENSIONAL IMAGES OF THE ENVIRONMENT 有权

    公开(公告)号：US20220101601A1

    公开(公告)日：2022-03-31

    申请号：US17496317

    申请日：2021-10-07

    Applicant: FARO Technologies, Inc.

    Inventor： Aleksej Frank ,  Matthias Wolke ,  Oliver Zweigle

    IPC: G06T17/05 ,  G06T1/00 ,  H04N13/282 ,  H04N5/232

    Abstract: 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.

    System and method of scanning and aquiring images of an environment
    28.
    发明授权
    System and method of scanning and aquiring images of an environment 有权

    公开(公告)号：US11269061B2

    公开(公告)日：2022-03-08

    申请号：US16937068

    申请日：2020-07-23

    Applicant: FARO Technologies, Inc.

    Inventor： Ahmad Ramadneh ,  Aleksej Frank ,  Joao Santos ,  Oliver Zweigle

    IPC: G01S17/894 ,  G01S7/481 ,  G06T7/73 ,  H04N13/296 ,  H04N13/254

    Abstract: A system and method of scanning an environment and acquiring an image is provided. The system includes a mobile device having a camera and a first position indicator. A scanner having a light emitter and a light receiver is provided. The scanner determining coordinates of surfaces in an environment in response to emitting light with the light emitter and receiving light with the light receiver, the scanner having a second position indicator. One or more processors are provided that determine the position of the mobile computing device and transmits the data between the scanner in response to the first position indicator engaging the second position indicator.

    CAPTURING ENVIRONMENTAL SCANS USING LANDMARKS BASED ON SEMANTIC FEATURES
    30.
    发明申请
    CAPTURING ENVIRONMENTAL SCANS USING LANDMARKS BASED ON SEMANTIC FEATURES 有权

    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.

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