公开(公告)号：US20240069203A1

公开(公告)日：2024-02-29

申请号：US18356871

申请日：2023-07-21

Applicant: FARO Technologies, Inc.

Inventor： Aleksej Frank ,  Mufassar Waheed ,  Matthias Wolke ,  Mark Brenner

IPC: G01S17/89

CPC classification number: G01S17/89

Abstract: A mobile three-dimensional (3D) measuring system includes a 3D measuring device configured to capture 3D data in a multi-level architecture, and an orientation sensor configured to estimate an altitude. One or more processing units coupled with the 3D measuring device and the orientation sensor perform a method that includes receiving a first portion of the 3D data captured by the 3D measuring device. The method further includes determining a level index based on the altitude. The level index indicates a level of the multi-level architecture at which the first portion is captured. The level index is associated with the first portion. Further, a map of the multi-level architecture is generated using the first portion, the generating comprises registering the first portion with a second portion of the 3D data responsive to the level index of the first portion being equal to the level index of the second portion.

公开(公告)号：US20220180541A1

公开(公告)日：2022-06-09

申请号：US17457119

申请日：2021-12-01

Applicant: FARO Technologies, Inc.

Inventor： Oliver Zweigle ,  Mark Brenner ,  Aleksej Frank ,  Ahmad Ramadneh ,  Mufassar Waheed ,  Muhammad Umair Tahir

IPC: G06T7/521 ,  G06T7/579 ,  H04N5/225 ,  G06T7/35

Abstract: A three dimensional coordinate measurement device and method of measuring is provided. The device including a housing having a first axis and a second axis. A first depth camera is coupled to the housing, the first depth camera having a first optical axis aligned with the first axis. A second depth camera is coupled to the housing, the second depth camera having a second optical axis disposed on a first angle relative to the first axis. A third depth camera is coupled to the housing, the third depth camera having a third optical axis disposed on a second angle relative to the first axis, the second angle being different than the first angle. A rotational device is coupled to rotate the housing about the second axis.

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：US12053895B2

公开(公告)日：2024-08-06

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

IPC: B25J9/16 ,  B25J13/08

CPC classification number: B25J9/1697 ,  B25J9/1653 ,  B25J9/1664 ,  B25J13/089

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.

公开(公告)号：US20230324556A1

公开(公告)日：2023-10-12

申请号：US18131526

申请日：2023-04-06

Applicant: FARO Technologies, Inc.

Inventor： Mufassar Waheed ,  Matthias Wolke ,  Aleksej Frank ,  Mark Brenner

IPC: G01S17/89 ,  G01S7/481 ,  G01S17/86

CPC classification number: G01S17/89 ,  G01S17/86 ,  G01S7/4817

Abstract: A mobile three-dimensional (3D) measuring system includes a 3D measuring device, and a support apparatus. The 3D measuring device is coupled to the support apparatus. The support apparatus includes a pole mount that includes a gimbal at the top of the pole mount, wherein the 3D measuring device is attached to the gimbal. The support apparatus further includes a counterweight at the bottom of the pole mount, the counterweight matches a weight of the 3D measuring device.

公开(公告)号：US11463680B2

公开(公告)日：2022-10-04

申请号：US17079875

申请日：2020-10-26

Applicant: FARO Technologies, Inc.

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

IPC: H04N13/296 ,  H04N13/204 ,  H04N5/225 ,  H04N5/247 ,  G06T7/70 ,  G01S7/48 ,  G01S17/894

Abstract: Generating a three-dimensional (3D) map of an environment includes receiving, via a 3D-scanner that is mounted on a moveable platform, a 3D-scan of the environment while the moveable platform moves through the environment. The method further includes receiving via a two-dimensional (2D) scanner that is mounted on the moveable platform, a portion of a 2D-map of the environment, and receiving first coordinates of the scan position in the 2D-map. The method further includes associating the scan position with the portion of the 2D-map as a virtual landmark. In response to the movable platform being brought back at the virtual landmark, a displacement vector for the 2D-map is determined based on a difference between the first coordinates and a second coordinates that are determined for the scan position. A revised scan position is calculated based on the displacement vector, and the revised scan position is used to register the 3D-scan.

公开(公告)号：US11501478B2

公开(公告)日：2022-11-15

申请号：US17325947

申请日：2021-05-20

Applicant: FARO Technologies, Inc.

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

IPC: G06T11/60 ,  G06T7/70 ,  G06T7/11 ,  G06V30/422 ,  G01S17/89 ,  G01S17/42

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.

公开(公告)号：US20220178492A1

公开(公告)日：2022-06-09

申请号：US17543975

申请日：2021-12-07

Applicant: FARO Technologies, Inc.

Inventor： Mufassar Waheed ,  Tobias Boehret ,  Mark Brenner ,  Oliver Zweigle ,  Aleksej Frank ,  Ahmad Ramadneh

IPC: F16M3/00 ,  B62D57/032

Abstract: Scanner stabilizing systems are described. The systems include a moving base configured to receive a scanner, at least one motor operably connected to the base to control at least one of an orientation and a position of the moving base about an axis, at least one mounting structure configured to fixedly attached to a mobile apparatus and wherein the at least one motor is attached to a respective one of the at least one mounting structures, and a stabilization controller operably connected to the at least one motor, wherein the stabilization controller is configured to maintain an orientation of the scanner relative to an environment.

公开(公告)号：US20210136350A1

公开(公告)日：2021-05-06

申请号：US17079875

申请日：2020-10-26

Applicant: FARO Technologies, Inc.

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

IPC: H04N13/296 ,  H04N13/204 ,  H04N5/225 ,  G06T7/70 ,  H04N5/247

Abstract: Generating a three-dimensional (3D) map of an environment includes receiving, via a 3D-scanner that is mounted on a moveable platform, a 3D-scan of the environment while the moveable platform moves through the environment. The method further includes receiving via a two-dimensional (2D) scanner that is mounted on the moveable platform, a portion of a 2D-map of the environment, and receiving first coordinates of the scan position in the 2D-map. The method further includes associating the scan position with the portion of the 2D-map as a virtual landmark. In response to the movable platform being brought back at the virtual landmark, a displacement vector for the 2D-map is determined based on a difference between the first coordinates and a second coordinates that are determined for the scan position. A revised scan position is calculated based on the displacement vector, and the revised scan position is used to register the 3D-scan.

公开(公告)号：US11936843B2

公开(公告)日：2024-03-19

申请号：US17325956

申请日：2021-05-20

Applicant: FARO Technologies, Inc.

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

IPC: H04N13/261 ,  G01P15/097 ,  G06T15/04 ,  G06T19/00 ,  H04N13/275

CPC classification number: H04N13/261 ,  G01P15/097 ,  G06T15/04 ,  G06T19/00 ,  H04N13/275

Abstract: Techniques are described for converting a 2D map into a 3D mesh. The 2D map of the environment is generated using data captured by a 2D scanner. Further, a set of features is identified from a subset of panoramic images of the environment that are captured by a camera. Further, the panoramic images from the subset are aligned with the 2D map using the features that are extracted. Further, 3D coordinates of the features are determined using 2D coordinates from the 2D map and a third coordinate based on a pose of the camera. The 3D mesh is generated using the 3D coordinates of the features.