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公开(公告)号：US11609090B2
公开(公告)日：2023-03-21
申请号：US17178591
申请日：2021-02-18
发明人： Johannes Buback , Igor Sapina , Julian Becker , Martin Ossig , Aleksej Frank , Ahmad Ramadneh , Oliver Zweigle , João Santos
摘要： 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 on an emitted first beam of light and a received first reflected light. 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.
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公开(公告)号：US20220392091A1
公开(公告)日：2022-12-08
申请号：US17750551
申请日：2022-05-23
发明人： Heiko Bauer , Tobias Boehret , Denis Wohlfeld
摘要： A method for updating a digital representation of an environment includes capturing an image of a portion of the environment using a change-detection device. Further, a corresponding digital data is determined that represents the portion in the digital representation of the environment. A change in the portion is detected by comparing the image with the corresponding digital data. In response to the change being above a predetermined threshold, the method includes initiating a resource-intensive scan of the portion using a scanning device, and updating the digital representation of the environment by replacing the corresponding digital data representing the portion with the resource-intensive scan.
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公开(公告)号：US11521349B2
公开(公告)日：2022-12-06
申请号：US16126099
申请日：2018-09-10
发明人： Manuel Caputo , Louis Bergmann
摘要： A virtual reality (VR) system that includes a three-dimensional (3D) point cloud having a plurality of points, a VR viewer having a current position, a graphics processing unit (GPU), and a central processing unit (CPU). The CPU determines a field-of-view (FOV) based at least in part on the current position of the VR viewer, selects, using occlusion culling, a subset of the points based at least in part on the FOV, and provides them to the GPU. The GPU receives the subset of the plurality of points from the CPU and renders an image for display on the VR viewer based at least in part on the received subset of the plurality of points. The selecting a subset of the plurality of points is at a first frame per second (FPS) rate and the rendering is at a second FPS rate that is faster than the first FPS rate.
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公开(公告)号：US20220351415A1
公开(公告)日：2022-11-03
申请号：US17678116
申请日：2022-02-23
发明人： Jafar Amiri Parian , Martin Ossig , Hani Kaabi
IPC分类号： G06T7/90 , G06T19/20 , G06T7/80 , G06V10/75 , G06T3/40 , H04N5/232 , H04N17/00 , G01S17/86 , G01S17/89 , G01S7/497
摘要： A system includes a three-dimensional (3D) scanner that captures a 3D point cloud corresponding to one or more objects in a surrounding environment. The system further includes a camera that captures a control image by capturing a plurality of images of the surrounding environment, and an auxiliary camera configured to capture an ultrawide-angle image of the surrounding environment. One or more processors of the system colorize the 3D point cloud using the ultrawide-angle image by mapping the ultrawide-angle image to the 3D point cloud. The system performs a limited system calibration before colorizing each 3D point cloud, and a periodic full system calibration before/after a plurality of 3D point clouds are colorized.
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公开(公告)号：US20220343600A1
公开(公告)日：2022-10-27
申请号：US17584613
申请日：2022-01-26
发明人： Romain Fournet
摘要： Automatic selection of region in 3D point cloud is provided. Neighbor points are determined for given seed point of seed points. Responsive to a color difference of a given neighbor point from given seed point being less than neighbor color distance threshold and responsive to an angle between a normal of given neighbor point and a normal of given seed point being less than neighbor normal angle threshold, given neighbor point is added to region in 3D point cloud. Responsive to curvature at given neighbor point being less than curvature threshold, responsive to color difference of given neighbor point from initial seed point being less than initial seed color distance threshold and responsive to an angle between a normal of given neighbor point and a normal of initial seed point being less than an initial seed normal angle, given neighbor point is added to seed points for processing.
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公开(公告)号：US20220326593A1
公开(公告)日：2022-10-13
申请号：US17358511
申请日：2021-06-25
发明人： Maxime Isabelle , Matthew T. Armstrong , Salvatore DiAngelus , Leonardo Martinez , Joel H. Stave
摘要： A light projector and method of aligning the light projector is provided. A light projector steers an outgoing beam of light onto an object, passing light returned from the object through a focusing lens onto an optical detector. The light projector may generate a light pattern or template by rapidly moving the outgoing beam of light along a path on a surface. To place the light pattern/template in a desired location, the light projector may be aligned with an electronic model.
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公开(公告)号：US20220321659A1
公开(公告)日：2022-10-06
申请号：US17808734
申请日：2022-06-24
摘要： A system includes a handheld unit having a light source, an image sensor, one or more first processors, an Ethernet cable, and a frame. The light source projects light onto an object, and the image sensor captures an image of light reflected from the object. One or more first processors are directly coupled to the frame. An accessory device has one or more second processors that receive data extracted from the captured image over the Ethernet cable and, in response, determine three-dimensional (3D) coordinates of points on the object. The accessory device also send electrical power over the Ethernet cable to the handheld unit.
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公开(公告)号：US20220318540A1
公开(公告)日：2022-10-06
申请号：US17568111
申请日：2022-01-04
摘要： Techniques are described for updating a digital twin of an environment, particularly, a digital representation of an object in the environment. A system can include a change-detection device having a camera, and one or more processors responsive to executable computer instructions to perform a method. The method includes capturing an image of a portion of the object using the change-detection device. The method further includes determining a corresponding digital data representing the portion in the digital representation of the environment. The method further includes detecting a change in the portion by comparing the image with the corresponding digital data. The method further includes in response to the change being above a predetermined threshold, initiating a resource-intensive scan of the portion using a scanning device, and updating the digital representation of the object by replacing the corresponding digital data representing the portion with the resource-intensive scan.
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公开(公告)号：US20220236048A1
公开(公告)日：2022-07-28
申请号：US17717683
申请日：2022-04-11
发明人： Daniel DÖRING , Rolf HEIDEMANN , Martin OSSIG , Gerrit HILLEBRAND
摘要： A handheld device has a projector that projects a pattern of light onto an object, a first camera that captures the projected pattern of light in first images, a second camera that captures the projected pattern of light in second images, a registration camera that captures a succession of third images, one or more processors that determines three-dimensional (3D) coordinates of points on the object based at least in part on the projected pattern, the first images, and the second images, the one or more processors being further operable to register the determined 3D coordinates based at least in part on common features extracted from the succession of third images, and a mobile computing device operably connected to the handheld device and cooperating with the one or more processors, the mobile computing device operable to display the registered 3D coordinates of points.
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公开(公告)号：US20220182853A1
公开(公告)日：2022-06-09
申请号：US17501046
申请日：2021-10-14
摘要： A method includes establishing a first communication connection between a computing device and a coordinate measurement device for submitting, by the computing device, one or more commands to the coordinate measurement device. A second communication connection between the two devices is established for receiving, by the computing device, coordinate data from the coordinate measurement device. In response to receiving, by the computing device, a command for the coordinate measurement device, if the first communication connection is not open, a wait is performed for the first communication connection to re-establish. If the wait is less than a predetermined duration, the method includes re-establishing, by the computing device, one or more channels for the first communication connection.
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