公开(公告)号：US20200249011A1

公开(公告)日：2020-08-06

申请号：US16855289

申请日：2020-04-22

Applicant: FARO Technologies, Inc.

Inventor： Matthias Wolke ,  Rolf Heidemann ,  Gerrit Hillebrand ,  Daniel Döring

IPC: G01B11/25 ,  H04N5/247 ,  G01S17/89

Abstract: A triangulation scanner system and method of operation is provided. The system includes a projector that alternately projects a pattern of light and no light during first and second time intervals. A camera includes a lens and a circuit with a photosensitive array. The camera captures an image of an object. The photosensitive array has a plurality of pixels including a first pixel. The first pixel including an optical detector and a first and second accumulator. The optical detector produces signals in response to a light levels reflected from a point on the object. The first accumulator sums the signals during the first time intervals to obtain a first summed signal. The second accumulator sums the signals during the second time intervals obtain a second summed signal. A processor determines 3D coordinates of the point based on the projected pattern of light and on the first and second summed signals.

公开(公告)号：US20200036953A1

公开(公告)日：2020-01-30

申请号：US16596047

申请日：2019-10-08

Applicant: FARO Technologies, Inc.

Inventor： Matthias Wolke ,  Rolf Heidemann

IPC: H04N13/122 ,  G01S3/786 ,  G06T1/00 ,  H04N13/275 ,  G01S17/48 ,  G01B11/00

Abstract: A photogrammetry system and method is provided. The photogrammetry system a two-dimensional (2D) camera operable to acquire a 2D image at a first resolution and a second resolution, and a 2D video image at the second resolution. A controller performs a method that includes acquiring a first 2D image of an object with the 2D camera at the first resolution. At least one feature on the object in the first 2D image. An image sequence is determined having a second position. A plurality of second 2D images are acquired with the 2D camera at the second resolution. The 2D camera is tracked. A direction of movement is indicated on the display. A third 2D image of the object is acquired when the 2D camera reaches the second position. Three-dimensional coordinates of the object are determined based on the first 2D image and the third 2D image.

公开(公告)号：US20190368864A1

公开(公告)日：2019-12-05

申请号：US16544012

申请日：2019-08-19

Applicant: FARO Technologies, Inc.

Inventor： Matthias Wolke ,  Rolf Heidemann ,  Gerrit Hillebrand ,  Daniel Döring

IPC: G01B11/25

Abstract: A triangulation scanner system and method of operation is provided. The system includes a projector that projects a first pattern of light at a first light level during first time intervals and project the first pattern of light at a second light level during second time intervals, the second light level being different than the first light level. A first camera has a first photosensitive array, the first photosensitive array having a first pixel with an optical detector, a first memory, and a second memory. The first memory storing a first stored signal from the optical detector during the first time intervals, the second memory storing a second signal from the optical detector during the second time intervals. A processor determines three-dimensional coordinates of the first point based at least in part on the projected first pattern of light, the first stored signal, and the second stored signal.

公开(公告)号：US10458783B2

公开(公告)日：2019-10-29

申请号：US16152789

申请日：2018-10-05

Applicant: FARO Technologies, Inc.

Inventor： Matthias Wolke ,  Rolf Heidemann ,  Gerrit Hillebrand ,  Daniel Döring

IPC: G01B11/24 ,  G01B11/25 ,  H04N5/247 ,  G01S17/89

Abstract: A triangulation scanner includes a projector, a camera, and a processor, the projector projecting a first pattern of light on a first point during first intervals and a no light during second intervals, the camera including an optical detector, a first accumulator, and a second accumulator, the optical detector receiving reflected light from the first point, the first and second accumulators summing signals from the optical detector during the first and second intervals, respectively, the processor determining 3D coordinates of the first point based at least in part on the first pattern, the summed signals from the first and second accumulators, and a speed of light in air.

公开(公告)号：US09909855B2

公开(公告)日：2018-03-06

申请号：US15358218

申请日：2016-11-22

Applicant: FARO Technologies, Inc.

Inventor： Bernd-Dietmar Becker ,  Robert E. Bridges ,  Ariane Stiebeiner ,  Rolf Heidemann ,  Matthias Wolke

IPC: G06K9/00 ,  G01B11/00 ,  G06T7/73 ,  G06T7/33 ,  G01B11/25 ,  G01S3/786 ,  G01B21/04 ,  G01S17/42 ,  G01S17/66 ,  G01B5/004 ,  G01S17/89 ,  G06T7/579 ,  G01S17/02 ,  G01S17/48

CPC classification number: G01B11/002 ,  G01B5/004 ,  G01B11/25 ,  G01B21/042 ,  G01S3/786 ,  G01S7/4808 ,  G01S17/023 ,  G01S17/42 ,  G01S17/48 ,  G01S17/66 ,  G01S17/89 ,  G06T7/33 ,  G06T7/579 ,  G06T7/73 ,  G06T2207/10004

Abstract: A dimensional measuring device includes an overview camera and a triangulation scanner. A six-DOF tracking device tracks the dimensional measuring device as the triangulation scanner measures three-dimensional (3D) coordinates on an exterior of the object. Cardinal points identified by the overview camera are used to register in a common frame of reference 3D coordinates measured by the triangulation scanner on the interior and exterior of the object.

公开(公告)号：US12271999B2

公开(公告)日：2025-04-08

申请号：US18385833

申请日：2023-10-31

Applicant: FARO Technologies, Inc.

Inventor： Aleksej Frank ,  Matthias Wolke ,  Oliver Zweigle

IPC: G06T1/00 ,  G06T17/05 ,  H04N13/282 ,  H04N23/698

Abstract: A system and method for scanning an environment and generating an annotated 2D map is provided. The method includes acquiring, via a 2D scanner, a plurality of 2D coordinates on object surfaces in the environment, the 2D scanner having a light source and an image sensor, the image sensor being arranged to receive light reflected from the object points. A first 360° image is acquired at a first position of the environment, via a 360° camera having a plurality of cameras and a controller, the controller being operable to merge the images acquired by the plurality of cameras to generate an image having a 360° view, the 360° camera being movable from the first to a second position. A 2D map is generated based at least in part on the plurality of two-dimensional coordinates of points. The first 360° image is integrated with the 2D map.

公开(公告)号：US12223665B2

公开(公告)日：2025-02-11

申请号：US17884641

申请日：2022-08-10

Applicant: FARO Technologies, Inc.

Inventor： Matthias Wolke ,  Jafar Amiri Parian

IPC: G06T7/33 ,  G06T7/73 ,  H04N23/698

Abstract: A system includes a first type of measurement device that captures first 2D images, a second type of measurement device that captures 3D scans. A 3D scan includes a point cloud and a second 2D image. The system also includes processors that register the first 2D images. The method includes accessing the 3D scan that records at least a portion of the surrounding environment that is also captured by a first 2D image. Further, 2D features in the second 2D image are detected, and 3D coordinates from the point cloud are associated to the 2D features. 2D features are also detected in the first 2D image, and matching 2D features from the first 2D image and the second 2D image are identified. A position and orientation of the first 2D image is calculated in a coordinate system of the 3D scan using the matching 2D features.

公开(公告)号：US12067083B2

公开(公告)日：2024-08-20

申请号：US17338890

申请日：2021-06-04

Applicant: FARO Technologies, Inc.

Inventor： Matthias Wolke ,  Prashanth Reddy Patlolla

IPC: G06T19/20 ,  G06F18/21 ,  G06F18/23 ,  G06F30/23 ,  G06T17/20 ,  G06V10/75 ,  G06V10/762

CPC classification number: G06F18/23 ,  G06F18/2163 ,  G06F30/23 ,  G06T17/20 ,  G06T19/20 ,  G06V10/757 ,  G06V10/762 ,  G06T2219/2004

Abstract: Examples described herein provide a method that includes performing cluster matching with one or more cluster sizes for each of a plurality of points of a measurement point cloud. The method further includes determining, based on results of the multi-radii cluster matching, whether an object is displaced or whether the object includes a defect.

公开(公告)号：US20240062462A1

公开(公告)日：2024-02-22

申请号：US18385833

申请日：2023-10-31

Applicant: FARO Technologies, Inc.

Inventor： Aleksej Frank ,  Matthias Wolke ,  Oliver Zweigle

IPC: G06T17/05 ,  G06T1/00 ,  H04N23/698 ,  H04N13/282

CPC classification number: G06T17/05 ,  G06T1/0007 ,  H04N23/698 ,  H04N13/282

Abstract: A system and method for scanning an environment and generating an annotated 2D map is provided. The method includes acquiring, via a 2D scanner, a plurality of 2D coordinates on object surfaces in the environment, the 2D scanner having a light source and an image sensor, the image sensor being arranged to receive light reflected from the object points. A first 360° image is acquired at a first position of the environment, via a 360° camera having a plurality of cameras and a controller, the controller being operable to merge the images acquired by the plurality of cameras to generate an image having a 360° view, the 360° camera being movable from the first to a second position. A 2D map is generated based at least in part on the plurality of two-dimensional coordinates of points. The first 360° image is integrated with the 2D map.

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.