公开(公告)号：US10546427B2

公开(公告)日：2020-01-28

申请号：US15886969

申请日：2018-02-02

Applicant: FARO Technologies, Inc.

Inventor： Aleksej Frank ,  Oliver Zweigle

IPC: G06T19/00 ,  G06Q20/14

Abstract: A system and method for generating a virtual reality scene from scanned point cloud data having user defined content is provided. The system includes a coordinate measurement device operable to measure three-dimensional coordinates. A computing device having a processor is operably coupled to the coordinate measurement device, the processor being operable to generate a point cloud data and insert user defined content into the point cloud data in response to an input from a user, the processor further being operable to generate a virtual reality data file based at least in part on the point cloud data with the user defined content. A virtual reality device is operably coupled to the computing device, the virtual reality device being operable to display the virtual reality data file to the user.

公开(公告)号：US10546419B2

公开(公告)日：2020-01-28

申请号：US15896547

申请日：2018-02-14

Applicant: FARO Technologies, Inc.

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

IPC: G06T17/05 ,  G06T19/00 ,  G06K9/32 ,  G06K9/22 ,  G06K9/00 ,  H04N1/32 ,  H04N1/00

Abstract: Technical solutions are described for generating an augmented reality map of an environment. An example method includes obtaining, by a 2D scanner, a 2D scan set including 2D coordinates of points in the environment. The method further includes capturing and displaying, by a portable computing device, a live video stream of a field of view, the portable computing device being fixed at a relative position with respect to the 2D scanner. The method further includes displaying a selection marker overlaid on the live video stream at a location in response to a user input. The method further includes projecting a beam of visible light on an object point in the field of view, corresponding to the location on the display of the selection marker. The method further includes receiving, via the portable computing device, a selection input and in response generating and storing an annotation at the object point.

公开(公告)号：US20190335160A1

公开(公告)日：2019-10-31

申请号：US16391358

申请日：2019-04-23

Applicant: FARO Technologies, Inc.

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

IPC: H04N13/254 ,  G01S17/89 ,  G06T7/73 ,  H04N13/296

Abstract: A system for using an augmented reality (AR) enabled mobile computing device for performing one-touch registration of three-dimensional (3D) scans of an environment is provided. The system includes one or more processors, a mobile computing device, and a 3D scanner being movable from a first position to a second position. The processors are responsive to executable instructions which cause the 3D scanner at the first and second positions to determine 3D coordinates of a first and second collection of points on object surfaces in the environment. In addition, the 3D scanner receives an estimated location of the mobile computing device from the mobile device in response to the 3D scanner being in contact with the mobile computing device at the first and second locations. A registration of the first collection of points and the second collection of points is based on the estimated locations of the mobile computing device.

公开(公告)号：US10203413B2

公开(公告)日：2019-02-12

申请号：US15681862

申请日：2017-08-21

Applicant: FARO Technologies, Inc.

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

IPC: G01S17/42 ,  B25J13/08 ,  G01S17/88 ,  G01S17/89 ,  G01S7/00 ,  G01S7/481 ,  G05D1/02 ,  G09B29/00 ,  G01B11/00 ,  G01B11/27 ,  G01S17/36 ,  G01C15/00 ,  G01S7/48 ,  G01C7/04 ,  G01S17/02 ,  G01S17/87

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.

公开(公告)号：US10120075B2

公开(公告)日：2018-11-06

申请号：US15675006

申请日：2017-08-11

Applicant: FARO Technologies, Inc.

Inventor： Aleksej Frank ,  Oliver Zweigle

IPC: G01B11/24 ,  G01S17/36 ,  G06T7/33 ,  G01C3/06 ,  G01C15/00 ,  G01S17/89 ,  H04N1/113 ,  H04N1/12

Abstract: A method and system for generating a three-dimensional (3D) map of an environment is provided. An example method includes receiving, by a processor system, via a 3D scanner, located at a scan position, a 3D scan of the environment. The method further includes receiving via a two-dimensional (2D) scanner accessory, a portion of a 2d map of the environment. The method further includes receiving coordinates of the scan position in the 2d map in response to the 3D scanner initiating the acquisition of the 3D scan. The method further includes associating the coordinates of the scan position with the portion of the 2D map. The method further includes determining a displacement vector for the 2D map using a loop closure algorithm. The method further includes computing a revised scan position based on the scan position and the displacement vector, where the 3D scan is registered using the revised scan position.

公开(公告)号：US20180285482A1

公开(公告)日：2018-10-04

申请号：US15713931

申请日：2017-09-25

Applicant: FARO Technologies, Inc.

Inventor： Joao Santos ,  Aleksej Frank ,  Ahmad Ramadneh ,  Simon Raab ,  Oliver Zweigle ,  Derik J. White

IPC: G06F17/50 ,  G09B25/04 ,  G01B11/25

Abstract: A system and method of generating a two-dimensional (2D) image of an environment is provided. The system includes a housing having a body and a handle. A 2D scanner is disposed in the body and has a light source, an image sensor and a controller, the light source steers a beam of light within a first plane to illuminate object points in the environment. The image sensor is arranged to receive light reflected from the object points and the controller determines a distance value to at least one of the object points. An inertial measurement unit is provided having a 3D accelerometer and a 3D gyroscope. One or more processors are responsive to executable instructions for generating a 2D image of the environment in response to an activation signal from an operator and based at least in part on the distance values and the signal.

公开(公告)号：US20170276472A1

公开(公告)日：2017-09-28

申请号：US15609519

申请日：2017-05-31

Applicant: FARO Technologies, Inc.

Inventor： Bernd-Dietmar Becker ,  Hamidreza Rajaie ,  Oliver Zweigle

IPC: G01B11/00 ,  G01B11/25

CPC classification number: G01B11/005 ,  G01B11/25 ,  Y10S901/01 ,  Y10S901/47

Abstract: A motorized mobile platform includes a robotic articulated arm and a triangulation scanner for performing three-dimensional measurements, the robotic arm and the triangulation scanner removably coupled with connectors.

公开(公告)号：US20160047914A1

公开(公告)日：2016-02-18

申请号：US14882601

申请日：2015-10-14

Applicant: FARO Technologies, Inc.

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

IPC: G01S17/42 ,  G01S7/48 ,  G01S7/481 ,  G01S17/89

CPC classification number: G01S17/42 ,  G01C7/04 ,  G01C15/002 ,  G01S7/003 ,  G01S7/4808 ,  G01S7/4813 ,  G01S7/4817 ,  G01S17/023 ,  G01S17/10 ,  G01S17/36 ,  G01S17/87 ,  G01S17/89 ,  G05D1/024 ,  G05D1/0274 ,  G05D2201/0207 ,  G09B29/004

Abstract: A method for measuring and registering three-dimensional (3D) coordinates by measuring 3D coordinates with a 3D scanner in a first registration position, measuring two-dimensional (2D) coordinates with a 2D scanner while moving from the first registration position to a second registration position, measuring 3D coordinates with the 3D scanner at the second registration position, and determining a correspondence among targets in the first and second registration positions while moving between the second registration position and a third registration position.

Abstract translation: 一种用于通过在第一对准位置测量3D扫描仪的3D坐标来测量和记录三维（3D）坐标的方法，在从第一注册位置移动到第二配准位置时，与2D扫描仪测量二维（2D）坐标 位置，在第二登记位置处与3D扫描仪测量3D坐标，以及在第二登记位置和第三登记位置之间移动的同时确定第一和第二登记位置中的目标之间的对应关系。

公开(公告)号：US12182934B2

公开(公告)日：2024-12-31

申请号：US17967221

申请日：2022-10-17

Applicant: FARO Technologies, Inc.

Inventor： Oliver Zweigle ,  Thorsten Brecht

IPC: G06T17/00 ,  G01S17/894 ,  G06T7/33 ,  G06T7/73 ,  G06T19/00

Abstract: A method is provided that includes generating a four-dimensional (4D) model of an environment based on three-dimensional (3D) coordinates of the environment captured at a first point in time. The method further includes updating the 4D model based at least in part to an update to at least a subset of the 3D coordinates of the environment captured at a second point in time. The method further includes enriching the 4D model by adding supplemental information to the model.

公开(公告)号：US12085409B2

公开(公告)日：2024-09-10

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

CPC classification number: G01C3/02 ,  G01B5/008 ,  G01B11/005 ,  G01C21/1656 ,  G01S17/06 ,  G06T7/70 ,  G06T2200/04 ,  G06T2207/10028

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.