公开(公告)号：US20210141061A1

公开(公告)日：2021-05-13

申请号：US17070330

申请日：2020-10-14

Applicant: FARO Technologies, Inc.

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

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

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：US10902172B2

公开(公告)日：2021-01-26

申请号：US16101660

申请日：2018-08-13

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 an environment relative to a location in a previously generated 2D image of the environment. The operations also include generating a new 2D image of at least a subset of the environment based at least in part in response to a signal from a first sensor. 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 current 2D image.

公开(公告)号：US20200379116A1

公开(公告)日：2020-12-03

申请号：US16866940

申请日：2020-05-05

Applicant: FARO Technologies, Inc.

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

IPC: G01S17/894 ,  G01S17/10 ,  G01S7/481 ,  G01S7/48 ,  G06T3/40 ,  G06T5/00 ,  G06T5/50

Abstract: Provided are embodiments including a system for automatically generating a plan of scan locations for performing a scanning operation where the system includes a storage medium that is coupled to a processor. The processor is configured to receive a map of an environment, apply a distance transform to the map, wherein the distance transform determines a path through the map, wherein the path comprises a plurality of points, and identify a set of candidate scan locations based on the path. The processor is also configured to select scan locations from the set of candidate scan locations for performing 3D scans, and perform the 3D scans of the environment based on the selected scan locations. Also provided are embodiments for a method and computer program product for automatically generating a plan of scan locations for performing a scanning operation.

公开(公告)号：US10740980B2

公开(公告)日：2020-08-11

申请号：US16545612

申请日：2019-08-20

Applicant: FARO Technologies, Inc.

Inventor： Aleksej Frank ,  Oliver Zweigle

IPC: G06T19/00 ,  G06T17/00 ,  G06Q20/00 ,  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：US20200096328A1

公开(公告)日：2020-03-26

申请号：US16527828

申请日：2019-07-31

Applicant: FARO Technologies, Inc.

Inventor： Simon Raab ,  Bernd-Dietmar Becker ,  Rolf Heidemann ,  Steffen Kappes ,  João Santos ,  Oliver Zweigle ,  Aleksej Frank

IPC: G01B11/25 ,  G06T7/20 ,  G06T7/73 ,  G06T7/00 ,  G01S17/06

Abstract: An inspection system for measuring an object is provided. The inspection system includes an entryway sized to receive the object. At least two non-contact coordinate measurement devices are positioned with a field of view being at least partially within or adjacent to the entryway, each of the at least two non-contact coordinate measurement devices being operable to measure 3D coordinates for a plurality of points on the object as one of the object or the entryway move from a first position to a final position. A pose measurement device is operable to determine the six-degree of freedom (6DOF) pose of the object. One or more processors are provided that register the 3D coordinates for the plurality of points from each of the at least two non-contact coordinate measurement devices based at least in part on the 6DOF pose of the object.

公开(公告)号：US10447991B1

公开(公告)日：2019-10-15

申请号：US16009383

申请日：2018-06-15

Applicant: FARO Technologies, Inc.

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

IPC: H04N13/221 ,  H04N13/254 ,  H04N13/324 ,  G01C21/16 ,  H04N13/271

Abstract: According to one or more embodiments, a system of generating a two-dimensional (2D) map of an environment includes a 2D scanner and a wall sensor positioned at a fixed position with respect to the 2D scanner, the wall sensor detects a presence of an internal element inside a wall in the environment. Further, the system includes one or more processors operably coupled to the 2D scanner and the wall sensor. The processors generate a wall map of a wall in the environment, the wall map including an occupancy grid with a plurality of cells, a cell representative of a corresponding portion of the wall, and the cell indicative of the occupancy of an internal element in the corresponding portion. Further, the processors associate the wall map with a location of the wall in the 2D map of the environment.

公开(公告)号：US20190304150A1

公开(公告)日：2019-10-03

申请号：US15936834

申请日：2018-03-27

Applicant: FARO Technologies, Inc.

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

IPC: G06T11/60 ,  G06K9/00 ,  G06K9/22 ,  H04N13/221 ,  H04N13/271 ,  H04N13/25 ,  H04N13/254 ,  G06T7/73

Abstract: A system that includes a coordinate measurement scanner having a first image sensor, one or more processors coupled to the scanner for generating a 2D image of the environment, a portable computing device having a second image sensor coupled to the one or more processors, and a mapping system. The one or more processors correlate a location captured by a first image from the portable computing device with the location in the 2D image of the environment in response to the first image being acquired by the second image sensor. The system further includes a mapping system configured to: generate a 2D map based on the 2D image of the environment, apply image recognition to the first image to identify and label an object in the first image, and update the 2D map based at least in part on the label of the object in the first image.

公开(公告)号：US10408606B1

公开(公告)日：2019-09-10

申请号：US16139896

申请日：2018-09-24

Applicant: FARO Technologies, Inc.

Inventor： Simon Raab ,  Bernd-Dietmar Becker ,  Rolf Heidemann ,  Steffen Kappes ,  João Santos ,  Oliver Zweigle ,  Aleksej Frank

IPC: G01N21/00 ,  G01B11/25 ,  G06T7/73 ,  G06T7/00 ,  G01S17/06 ,  G06T7/20

Abstract: An inspection system for measuring an object is provided. The inspection system includes an entryway sized to receive the object. At least two non-contact coordinate measurement devices are positioned with a field of view being at least partially within or adjacent to the entryway, each of the at least two non-contact coordinate measurement devices being operable to measure 3D coordinates for a plurality of points on the object as one of the object or the entryway move from a first position to a final position. A pose measurement device is operable to determine the six-degree of freedom (6DOF) pose of the object. One or more processors are provided that register the 3D coordinates for the plurality of points from each of the at least two non-contact coordinate measurement devices based at least in part on the 6DOF pose of the object.

公开(公告)号：US20190249980A1

公开(公告)日：2019-08-15

申请号：US16259423

申请日：2019-01-28

Applicant: FARO Technologies, Inc.

Inventor： Muhammad Umair Tahir ,  Oliver Zweigle ,  Robert E. Bridges

IPC: G01B11/00 ,  G01B11/03 ,  G01B5/004 ,  G01S7/497 ,  G01S17/42 ,  G01S17/66 ,  G02B5/132 ,  G02B5/122

CPC classification number: G01B11/005 ,  G01B5/004 ,  G01B11/03 ,  G01B2210/58 ,  G01S7/481 ,  G01S7/497 ,  G01S17/42 ,  G01S17/66 ,  G02B5/122 ,  G02B5/132

Abstract: An apparatus includes a kinematic nest that supports an element having a spherical surface, a rotation mechanism that rotates the element, and processor that activates the rotation mechanism.

公开(公告)号：US10067231B2

公开(公告)日：2018-09-04

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 ,  G01S17/89 ,  G01S7/48 ,  G01S7/481 ,  G01C15/00 ,  G01S17/36 ,  G01S7/00 ,  G05D1/02 ,  G09B29/00 ,  G01C7/04 ,  G01S17/02 ,  G01S17/87 ,  G01S17/10

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.