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    SYSTEM AND METHOD OF GENERATING VIRTUAL REALITY DATA FROM A THREE-DIMENSIONAL POINT CLOUD
    71.
    发明申请
    SYSTEM AND METHOD OF GENERATING VIRTUAL REALITY DATA FROM A THREE-DIMENSIONAL POINT CLOUD 审中-公开

    公开(公告)号：US20180232954A1

    公开(公告)日：2018-08-16

    申请号：US15886969

    申请日：2018-02-02

    Applicant: FARO Technologies, Inc.

    Inventor： Aleksej Frank ,  Oliver Zweigle

    IPC: G06T19/00

    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.

    USING DEPTH-CAMERA IMAGES TO SPEED REGISTRATION OF THREE-DIMENSIONAL SCANS
    75.
    发明申请
    USING DEPTH-CAMERA IMAGES TO SPEED REGISTRATION OF THREE-DIMENSIONAL SCANS 有权
    使用深度摄像机图像速度注册三维扫描

    公开(公告)号：US20150160343A1

    公开(公告)日：2015-06-11

    申请号：US14559367

    申请日：2014-12-03

    Applicant: FARO Technologies, Inc.

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

    IPC: G01S17/42 ,  G01S17/36 ,  G01S7/481

    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 and a second collection of 3D coordinates of points from a second registration position. In between these positions, the 3D measuring device collects depth-camera images. A processor determines first and second translation values and a first rotation value based on the depth-camera images. The processor identifies a correspondence among registration targets in the first and second collection of 3D coordinates based at least in part on the first and second translation values and the first rotation value. The processor uses this correspondence and the first and second collection of 3D coordinates to determine 3D coordinates of a registered 3D collection of points.

    Abstract translation: 用于测量和登记3D坐标的方法具有3D扫描器，测量来自第一登记位置的点的3D坐标的第一集合和来自第二登记位置的点的3D坐标的第二集合。 在这些位置之间，3D测量装置收集深度相机图像。 处理器基于深度相机图像来确定第一和第二平移值以及第一旋转值。 处理器至少部分地基于第一和第二平移值和第一旋转值，识别第一和第二3D坐标集合中的注册目标之间的对应关系。 处理器使用这种对应关系以及3D坐标的第一和第二集合来确定注册的3D集合集合的3D坐标。

    System and method of scanning an environment and generating two dimensional images of the environment
    76.
    发明授权
    System and method of scanning an environment and generating two dimensional images of the environment 有权

    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.

    Correcting positions after loop closure in simultaneous localization and mapping algorithm
    78.
    发明授权
    Correcting positions after loop closure in simultaneous localization and mapping algorithm 有权

    公开(公告)号：US11927692B2

    公开(公告)日：2024-03-12

    申请号：US17070330

    申请日：2020-10-14

    Applicant: FARO Technologies, Inc.

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

    IPC: G01C3/08 ,  G01S7/48 ,  G01S17/86 ,  G01S17/87 ,  G01S17/89

    CPC classification number: G01S7/4808 ,  G01S17/86 ,  G01S17/87 ,  G01S17/89

    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.

    SYSTEM AND METHOD OF SCANNING AN ENVIRONMENT AND GENERATING TWO DIMENSIONAL IMAGES OF THE ENVIRONMENT
    79.
    发明公开
    SYSTEM AND METHOD OF SCANNING AN ENVIRONMENT AND GENERATING TWO DIMENSIONAL IMAGES OF THE ENVIRONMENT 审中-公开

    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.

    Capturing environmental scans using landmarks based on semantic features
    80.
    发明授权
    Capturing environmental scans using landmarks based on semantic features 有权

    公开(公告)号：US11828852B2

    公开(公告)日：2023-11-28

    申请号：US17314102

    申请日：2021-05-07

    Applicant: FARO Technologies, Inc.

    Inventor： Mark Brenner ,  Aleksej Frank ,  Ahmad Ramadneh ,  Oliver Zweigle

    IPC: G01S17/89 ,  G01S17/894 ,  G01S17/04 ,  G01S7/497

    CPC classification number: G01S17/894 ,  G01S7/4972 ,  G01S17/04

    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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