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81.发明授权公开(公告)号：US11624833B2
公开(公告)日：2023-04-11
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
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.
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公开(公告)号：US11592285B2
公开(公告)日：2023-02-28
申请号：US16541774
申请日：2019-08-15
Applicant: FARO Technologies, Inc.
Inventor： Muhammad Umair Tahir , Oliver Zweigle , Mark Brenner , Michael Müller , Simon Raab , Steffen Kappes
IPC: G01B11/25
Abstract: Aspects of the present disclosure provide a system for measuring an object, the system including a plurality of frame segments. The frame segments are configured to mechanically couple together to form a frame. The plurality of frame segments includes a plurality of measurement device link segments and each of the plurality of measurement device link segments includes a measurement device which together form a plurality of measurement devices having a field of view within or adjacent to the frame. Each of the plurality of measurement devices is operable to measure three-dimensional (3D) coordinates for a plurality of points on the object. The system further includes a computing device to receive data from the plurality of measurement devices via a network established by the plurality of measurement device link segments.
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公开(公告)号：US20230033632A1
公开(公告)日：2023-02-02
申请号：US17965902
申请日：2022-10-14
Applicant: FARO Technologies, Inc.
Inventor： Mark Brenner , Aleksej Frank , Oliver Zweigle , Ahmad Ramadneh , Mufassar Waheed
IPC: G06T11/60 , G06T7/70 , G06T7/11 , G06V30/422
Abstract: A system for generating an automatically segmented and annotated two-dimensional (2D) map of an environment includes processors coupled to a scanner to convert a 2D map from the scanner into a 2D image. Further, a mapping system categorizes a first set of pixels from the image into one of room-inside, room-outside, and noise by applying a trained neural network to the image. The mapping system further categorizes a first subset of pixels from the first set of pixels based on a room type if the first subset of pixels is categorized as room-inside. The mapping system also determines the room type of a second subset of pixels from the first set of pixels based on the first subset of pixels by using a flooding algorithm. The mapping system further annotates a portion of the 2D map to identify the room type based on the pixels corresponding to the portion.
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公开(公告)号：US20220410401A1
公开(公告)日：2022-12-29
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
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.
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公开(公告)号：US20220057518A1
公开(公告)日：2022-02-24
申请号：US17325940
申请日：2021-05-20
Applicant: FARO Technologies, Inc.
Inventor： Mark Brenner , Aleksej Frank , Oliver Zweigle , Ahmad Ramadneh
IPC: G01S17/894 , G01S17/42 , G01S7/48 , G01S7/497
Abstract: Techniques are described to determine a constraint for performing a simultaneous location and mapping. A method includes detecting a first set of planes in a first scan-data of an environment, and detecting a second set of planes in a second scan-data. Further, a plane that is in the first set of planes and the second set of planes is identified. Further, a first set of measurements of a landmark on the plane is determined from the first scan-data, and a second set of measurements of said landmark is determined from the second scan-data. The constraint is determined by computing a relationship between the first set of measurements and the second set of measurements.
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Patent Agency Ranking
公开(公告)号：US11194019B2
公开(公告)日：2021-12-07
申请号：US16391358
申请日：2019-04-23
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 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.
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公开(公告)号：US20210318438A1
公开(公告)日：2021-10-14
申请号：US17354607
申请日：2021-06-22
Applicant: FARO Technologies, Inc.
Inventor： Daniel Pompe , Manuel Caputo , José Gerardo Gómez Méndez , Zia ul Azam , Louis Bergmann , Daniel Flohr , Oliver Zweigle
Abstract: A system of generating a three-dimensional (3D) scan of an environment includes multiple 3D scanners including a first 3D scanner at respective first and second positions. The system further includes a controller coupled to the 3D scanners via a common communications network. The first scanner and second scanner transmit a subset of data to the controller while acquiring a set of 3D coordinates. The controller registers the subsets of data to each other while the sets of 3D coordinates is being acquired.
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公开(公告)号：US11024050B2
公开(公告)日：2021-06-01
申请号：US16180560
申请日：2018-11-05
Applicant: FARO Technologies, Inc.
Inventor： Muhammad Umair Tahir , Oliver Zweigle
Abstract: A system for linking information of a point of interest to a position within an image of the location may include a portable device structured to determine a position of the point of interest in the image when the portable device is present within the location depicted by the image; an accessory operably coupled to the portable device and comprising a tool structured to provide information related to the point of interest; a processor operably coupled to the portable device and configured to create a data structure linking the information with the position of the point of interest; and a storage structured to store the data structure.
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公开(公告)号：US11016196B2
公开(公告)日：2021-05-25
申请号：US16739188
申请日：2020-01-10
Applicant: FARO Technologies, Inc.
Inventor： Oliver Zweigle , Ahmad Ramadneh , Aleksej Frank , João Santos
Abstract: A system and method of generating a two-dimensional image of an environment is provided. The system includes a 2D scanner that comprises a light source, an image sensor and a controller. The controller determines a distance value to at least one of the object points. An inertial measurement unit is coupled to the scanner and has a first sensor. The first sensor has a first characteristic. A mobile computing device is removably coupled to the 2D scanner, the mobile computing device having a second sensor, the second sensor having a second characteristic. Processors are provided that are responsive to compare the first characteristic and the second characteristic and select one of the first or second sensor based on the comparison. The processors are further generate an image of the environment based on a signal from the selected first or second sensor.
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90.发明授权公开(公告)号：US10891769B2
公开(公告)日：2021-01-12
申请号：US16275525
申请日：2019-02-14
Applicant: FARO Technologies, Inc.
Inventor： João Santos , Oliver Zweigle , Ahmad Ramadneh , Aleksej Frank
IPC: G06T11/60 , G06T7/521 , H04N5/247 , G06T7/33 , H04N13/254 , H04N13/243 , G06T7/70 , H04W4/33 , G06T3/60 , G06T3/00 , G06T3/20 , H04N13/00
Abstract: One or more embodiments are described for generating a two dimensional map of an environment using a set of submaps that include point clouds of the environment that are captured using multiple scanner systems that move independently from one position to another in the environment. Each 2D scanner system steers a beam of light within a first plane to illuminate object points in the environment, and a controller determines a distance value to at least one of the object points. The 2D submaps of the environment are generated based on an activation signal from an operator and based at least in part on the distance value, each submap generated from a respective point in the environment and by a respective 2D scanner system. A central processor generates the 2D image of the environment using the 2D submaps.
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