公开(公告)号：US20240004080A1

公开(公告)日：2024-01-04

申请号：US18469258

申请日：2023-09-18

Applicant: FARO Technologies, Inc.

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

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

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

Abstract: A method is provided that includes recording a landmark at a first scan position of a scanner, the landmark based at least in part on a semantic feature of scan data captured by the scanner. The semantic feature is identified using line-segments of the scan data. The method further includes capturing, by the scanner while moving through the environment, additional scan data at a second scan position. The method further includes, responsive to the scanner returning to the first scan position associated with the landmark, computing a measurement error. The method further includes correcting, using the measurement error, at least a portion of the scan data or the additional scan data.

公开(公告)号：US11775701B2

公开(公告)日：2023-10-03

申请号：US17001034

申请日：2020-08-24

Applicant: FARO Technologies, Inc.

Inventor： Joao Santos ,  Aleksej Frank ,  Ahmad Ramadneh ,  Simon Raab ,  Oliver Zweigle ,  Derik J. White

IPC: G06F30/13 ,  G01C3/08 ,  G01C15/00 ,  G01S17/89 ,  G01S7/48 ,  G01S17/42 ,  G01S17/87 ,  G01S17/86 ,  G01C21/16 ,  G01B11/25 ,  G09B25/04 ,  G06T11/60

CPC classification number: G06F30/13 ,  G01B11/2518 ,  G01C3/08 ,  G01C15/008 ,  G01C21/1656 ,  G01S7/4808 ,  G01S17/42 ,  G01S17/86 ,  G01S17/87 ,  G01S17/89 ,  G09B25/04 ,  G06T11/60

Abstract: Systems and methods of generating two-dimensional (2D) images of an environment are provided. The systems includes a measurement device and a processor configured to generate a 2D image of an environment based at least in part on a number of 2D scans, a first translation value, a first translation direction, a second translation value, a second translation direction, a first rotation value, and a second rotation value. Generating the 2D image further includes generating a grid map that includes a plurality of cells, each of the plurality of cells indicating a probability of a cell area being occupied.

公开(公告)号：US20230228565A1

公开(公告)日：2023-07-20

申请号：US18123752

申请日：2023-03-20

Applicant: FARO Technologies, Inc.

Inventor： Johannes Buback ,  Igor Sapina ,  Julian Becker ,  Martin Ossig ,  Aleksej Frank ,  Ahmad Ramadneh ,  Oliver Zweigle ,  João Santos

IPC: G01C3/02 ,  G01B5/008 ,  G01B11/00 ,  G01S17/06 ,  G01C21/16

CPC classification number: G01C3/02 ,  G01B5/008 ,  G01B11/005 ,  G01S17/06 ,  G01C21/1656 ,  G06T7/70

Abstract: 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 at least in part on a measurement by at least one sensor. 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.

公开(公告)号：US11692811B2

公开(公告)日：2023-07-04

申请号：US16802887

申请日：2020-02-27

Applicant: FARO Technologies, Inc.

Inventor： Oliver Zweigle ,  João Santos ,  Aleksej Frank ,  Ahmad Ramadneh ,  Muhammad Umair Tahir ,  Tobias Boehret

IPC: G01B11/00 ,  G01S7/4865 ,  G02B26/10 ,  G01S17/89

CPC classification number: G01B11/002 ,  G01S7/4865 ,  G01S17/89 ,  G02B26/105

Abstract: A system and method for measuring three-dimensional (3D) coordinate values of an environment is provided. The method including moving a 2D scanner through the environment. A 2D map of the environment is generated using the 2D scanner. A path is defined through the environment using the 2D scanner. 3D scan locations along the path are defined using the 2D scanner. The 2D scanner is operably coupled to a mobile base unit. The mobile base unit is moved along the path based at least in part on the 2D map and the defined path. 3D coordinate values are measured at the 3D scan locations with a 3D scanner, the 3D scanner being coupled to the mobile base unit.

公开(公告)号：US11609090B2

公开(公告)日：2023-03-21

申请号：US17178591

申请日：2021-02-18

Applicant: FARO Technologies, Inc.

Inventor： Johannes Buback ,  Igor Sapina ,  Julian Becker ,  Martin Ossig ,  Aleksej Frank ,  Ahmad Ramadneh ,  Oliver Zweigle ,  João Santos

IPC: G01B11/00 ,  G01C3/02 ,  G01B5/008 ,  G01S17/06 ,  G01C21/16 ,  G06T7/70

Abstract: 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.

公开(公告)号：US20210156881A1

公开(公告)日：2021-05-27

申请号：US17070134

申请日：2020-10-14

Applicant: FARO Technologies, Inc.

Inventor： Oliver Zweigle ,  Michael Müller ,  Mark Brenner ,  Rasmus Debitsch ,  Gerrit Hillebrand ,  Maxim Muschinski

IPC: G01P3/38 ,  G01B11/00

Abstract: Provided are embodiments for a device and method for measuring three-dimensional (3D) coordinates. Embodiments include a projector having a projector optical axis on a first plane, the projector operable to project a collection of laser beams on a surface of an object, and a first camera having a first-camera optical axis on the first plane, the first camera operable to capture a first image of the collection of laser beams on the surface of the object. Embodiments also include one or more processors, the one or more processors are operable to generate a first distance profile for the object using a first laser beam of the collection of laser beams and generate a second distance profile for the object using a second laser beam of the collection of laser beams, estimate the velocity of the object based on the first and second distance profile, and provide the estimated velocity.

公开(公告)号：US10896517B2

公开(公告)日：2021-01-19

申请号：US16559700

申请日：2019-09-04

Applicant: FARO Technologies, Inc.

Inventor： Oliver Zweigle ,  Ahmad Ramadneh ,  Aleksej Frank ,  Joao Santos

IPC: G06T7/62 ,  G01S17/89 ,  G01S7/48 ,  G06T7/593 ,  H04N13/257 ,  H04W4/02 ,  G06T7/521 ,  G01S7/481 ,  G06T11/00

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.

公开(公告)号：US10819883B2

公开(公告)日：2020-10-27

申请号：US16356209

申请日：2019-03-18

Applicant: FARO Technologies, Inc.

Inventor： Oliver Zweigle ,  Ahmad Ramadneh ,  Muhammad Umair Tahir ,  Aleksej Frank ,  João Santos ,  Roland Raith

IPC: H04N3/14 ,  G06F1/16 ,  G06K9/00 ,  G06T19/00

Abstract: According to one or more embodiments, a system of generating a two-dimensional (2D) image of an environment includes a 2D scanner system that includes a measurement device that is mounted to a first body equipment of an operator and one or more processors that are mounted to a second body equipment of the operator. The measurement device includes a light source, an image sensor, and a controller to determine a distance value to one or more object points. The processors generate a 2D submap of the environment in response to an activation signal from the operator and based at least in part on the distance value, each submap generated from a respective point in the environment. Further, the processors generate a 2D image of the environment using multiple 2D submaps.

公开(公告)号：US20200151890A1

公开(公告)日：2020-05-14

申请号：US16739188

申请日：2020-01-10

Applicant: FARO Technologies, Inc.

Inventor： Oliver Zweigle ,  Ahmad Ramadneh ,  Aleksej Frank ,  João Santos

IPC: G06T7/521 ,  G01S17/89 ,  G01S7/481 ,  G06T7/593 ,  G06T11/00 ,  H04N13/257

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.

公开(公告)号：US20190392600A1

公开(公告)日：2019-12-26

申请号：US16559700

申请日：2019-09-04

Applicant: FARO Technologies, Inc.

Inventor： Oliver Zweigle ,  Ahmad Ramadneh ,  Aleksej Frank ,  Joao Santos

IPC: G06T7/521 ,  G01S7/481 ,  G06T11/00 ,  G01S17/89 ,  H04N13/257 ,  G06T7/593

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.