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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
Applicant: FARO Technologies, Inc.
Inventor： Jafar Amiri Parian , Martin Ossig , Hani Kaabi
IPC: G06T7/90 , G06T19/20 , G06T7/80 , G06V10/75 , G06T3/40 , H04N5/232 , H04N17/00 , G01S17/86 , G01S17/89 , G01S7/497
Abstract: 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：US20230386085A1
公开(公告)日：2023-11-30
申请号：US18449934
申请日：2023-08-15
Applicant: FARO Technologies, Inc.
Inventor： Jafar Amiri Parian , Martin Ossig , Hani Kaabi
IPC: G06T7/90 , G06T7/80 , G01S17/86 , G06V10/75 , G01S7/497 , G01S17/89 , G06T3/40 , G06T19/20 , H04N17/00 , H04N23/698
CPC classification number: G06T7/90 , G06T7/80 , G01S17/86 , G06V10/757 , G01S7/497 , G01S17/89 , G06T3/4038 , G06T19/20 , H04N17/002 , H04N23/698 , G06T2207/10024 , G06T2207/10028 , G06T2219/2012
Abstract: 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：US20230154020A1
公开(公告)日：2023-05-18
申请号：US17884641
申请日：2022-08-10
Applicant: FARO Technologies, Inc.
Inventor： Matthias Wolke , Jafar Amiri Parian
CPC classification number: G06T7/337 , G06T7/74 , G06T2207/10024 , G06T2207/10028 , G06T2207/10032 , H04N5/23238
Abstract: A system includes a first type of measurement device that captures first 2D images, a second type of measurement device that captures 3D scans. A 3D scan includes a point cloud and a second 2D image. The system also includes processors that register the first 2D images. The method includes accessing the 3D scan that records at least a portion of the surrounding environment that is also captured by a first 2D image. Further, 2D features in the second 2D image are detected, and 3D coordinates from the point cloud are associated to the 2D features. 2D features are also detected in the first 2D image, and matching 2D features from the first 2D image and the second 2D image are identified. A position and orientation of the first 2D image is calculated in a coordinate system of the 3D scan using the matching 2D features.
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公开(公告)号：US12086997B2
公开(公告)日：2024-09-10
申请号：US17678119
申请日：2022-02-23
Applicant: FARO Technologies, Inc.
Inventor： Jafar Amiri Parian
IPC: G06T7/33
CPC classification number: G06T7/33 , G06T2207/10024 , G06T2207/10028
Abstract: A point cloud is colorized by mapping a color image using an intensity image. The mapping includes detecting multiple features from the intensity image using a feature-extraction algorithm. A feature is extracted that is not within a predetermined vicinity of an edge in the intensity image. A template is created by selecting a portion of a predetermined size from the intensity image with the feature at the center. A search window is created with the same size as the template by selecting a portion of a luminance image as a search space. The luminance image is obtained from the color image. A cost value is computed for each pixel of the search space by comparing image gradients of the template and the search window. A matching point is determined in the color image corresponding to the feature based on the cost value for each pixel of search space.
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公开(公告)号：US12069228B2
公开(公告)日：2024-08-20
申请号：US17976041
申请日：2022-10-28
Applicant: FARO Technologies, Inc.
Inventor： Hani Kaabi , Jafar Amiri Parian
IPC: H04N13/257 , H04N13/25 , H04N13/271
CPC classification number: H04N13/257 , H04N13/25 , H04N13/271
Abstract: A system includes a three-dimensional (3D) scanner, a camera with a viewpoint that is different from a viewpoint of the 3D scanner, and one or more processors coupled with the 3D scanner and the camera. The processors access a point cloud from the 3D scanner and one or more images from the camera, the point cloud comprises a plurality of 3D scan-points, a 3D scan-point represents a distance of a point in a surrounding environment from the 3D scanner, and an image comprises a plurality of pixels, a pixel represents a color of a point in the surrounding environment. The processors generate, using the point cloud and the one or more images, an artificial image that represents a portion of the surrounding environment viewed from an arbitrary position in an arbitrary direction, wherein generating the artificial image comprises colorizing each pixel in the artificial image.
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Patent Agency Ranking
公开(公告)号：US20200296249A1
公开(公告)日：2020-09-17
申请号：US16299663
申请日：2019-03-12
Applicant: FARO Technologies, Inc.
Inventor： Jafar Amiri Parian , Matthias Wolke
Abstract: A three-dimensional (3D) measuring system that includes an external projector and an imager device. The imager device having a projector, a first camera and a second camera. The system further having one or more processors operably coupled to the display, the projector, the first camera and the second camera. The processors are responsive to executable computer instructions when executed on the one or more processors for projecting one or more random patterns on an object, recording one or more stereo images of the object, estimating a position and orientation of an imager device and registering scan data generated from the estimated position and orientation of the imager device into a coordinate system.
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公开(公告)号：US12299926B2
公开(公告)日：2025-05-13
申请号：US17845482
申请日：2022-06-21
Applicant: FARO Technologies, Inc.
Inventor： Jafar Amiri Parian , Robert E. Bridges
Abstract: Examples described herein provide a method that includes capturing data about an environment. The method further includes generating a database of two-dimensional (2D) features and associated three-dimensional (3D) coordinates based at least in part on the data about the environment. The method further includes determining a position (x, y, z) and an orientation (pitch, roll, yaw) of a device within the environment based at least in part on the database of 2D features and associated 3D coordinates. The method further includes causing the device to display, on a display of the device, an augmented reality element at a predetermined location based at least in part on the position and the orientation of the device.
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公开(公告)号：US12223665B2
公开(公告)日：2025-02-11
申请号：US17884641
申请日：2022-08-10
Applicant: FARO Technologies, Inc.
Inventor： Matthias Wolke , Jafar Amiri Parian
IPC: G06T7/33 , G06T7/73 , H04N23/698
Abstract: A system includes a first type of measurement device that captures first 2D images, a second type of measurement device that captures 3D scans. A 3D scan includes a point cloud and a second 2D image. The system also includes processors that register the first 2D images. The method includes accessing the 3D scan that records at least a portion of the surrounding environment that is also captured by a first 2D image. Further, 2D features in the second 2D image are detected, and 3D coordinates from the point cloud are associated to the 2D features. 2D features are also detected in the first 2D image, and matching 2D features from the first 2D image and the second 2D image are identified. A position and orientation of the first 2D image is calculated in a coordinate system of the 3D scan using the matching 2D features.
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公开(公告)号：US20220170737A1
公开(公告)日：2022-06-02
申请号：US17412793
申请日：2021-08-26
Applicant: FARO Technologies, Inc.
Inventor： Hani Kaabi , Jafar Amiri Parian
Abstract: A method includes mapping attribute information from a sensor with 3D coordinates from a 3D measurement device, wherein the mapping comprises blending the attribute information to avoid boundary transition effects. The blending includes representing the 3D coordinates that are captured using a plurality of voxel grids. The blending further includes converting the plurality of voxel grids to a corresponding plurality of multi-band pyramids, wherein each multi-band pyramid comprises a plurality of levels, each level storing attribute information for a different frequency band. The blending further includes computing a blended multi-band pyramid based on the plurality of voxel grids by combining corresponding levels from each of the multi-band pyramids. The blending further includes converting the blended multi-band pyramid into a blended voxel grid. The blending further includes outputting the blended voxel grid.
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公开(公告)号：US20220128671A1
公开(公告)日：2022-04-28
申请号：US17492801
申请日：2021-10-04
Applicant: FARO Technologies, Inc.
Inventor： Jafar Amiri Parian , Hani Kaabi
IPC: G01S7/497 , G01S17/894 , G06T7/521
Abstract: A method includes capturing, by a three-dimensional (3D) scanner, a 3D point cloud, and capturing, by a camera, a control image by capturing and stitching multiple images of the surrounding environment. The method further includes capturing, by an auxiliary camera, an ultrawide-angle calibration image. The method further includes dynamically calibrating the auxiliary camera using the 3D point cloud, the control image, and the calibration image. The calibrating includes extracting a first plurality of features from the control image and extracting a second plurality of features from the calibration image. Further, a set of matching features are determined from the first and second sets of features. A set of control points is generated using the set of matching features by determining points in the 3D point cloud that correspond to the set of matching features. Further, a self-calibration of the auxiliary camera is performed using the set of control points.
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