公开(公告)号：US12135371B2

公开(公告)日：2024-11-05

申请号：US16700664

申请日：2019-12-02

Applicant: LEICA GEOSYSTEMS AG

Inventor： Gregory Walsh ,  Roman Parys ,  Alexander Velizhev ,  Bernhard Metzler

IPC: G01S17/89 ,  G01C15/00 ,  G01S7/481 ,  G01S17/42 ,  G01S17/86 ,  G02B26/10 ,  G03B37/04 ,  G06T7/00 ,  G06T7/55 ,  H04N1/04 ,  H04N13/243 ,  H04N13/271 ,  H04N23/698

Abstract: A method may include identifying features in images of a setting captured by cameras associated with a laser scanner at a first location. The features may correspond to elements in the setting. The method may include correlating the features with scan point data associated with the elements. The scan point data may be derived from a scan of the setting by a laser of the laser scanner at the first location. The method may include tracking the features within images captured by the cameras. The images may be captured during movement of the laser scanner away from the first location. The method may include estimating a position and/or an orientation of the laser scanner at a second location based on the tracking of the features and based on the correlating of the features with the scan point data.

公开(公告)号：US09903950B2

公开(公告)日：2018-02-27

申请号：US14470088

申请日：2014-08-27

Applicant: Leica Geosystems AG

Inventor： Gregory Walsh ,  Roman Parys ,  Alexander Velizhev ,  Bernhard Metzler

IPC: G01S17/89 ,  G01S17/42 ,  G01C15/00 ,  G01S7/481 ,  G02B26/10 ,  G03B37/04 ,  G01S17/02 ,  H04N1/04 ,  H04N5/232 ,  H04N13/02 ,  G06T7/00 ,  G06T7/55

CPC classification number: G01S17/89 ,  G01C15/002 ,  G01S7/4817 ,  G01S17/023 ,  G01S17/42 ,  G02B26/10 ,  G03B37/04 ,  G06T7/55 ,  G06T7/97 ,  H04N1/04 ,  H04N5/23238 ,  H04N13/243 ,  H04N13/271

Abstract: A device may include a laser configured to rotate about an azimuth axis of the device and an elevation axis of the device. The device may also include a plurality of cameras configured to rotate about the azimuth axis and fixed with respect to the elevation axis. The cameras may be configured to have a collective field-of-view that includes a collective elevation field-of-view and a collective azimuth field-of-view. The device may also include a control system configured to direct the laser to rotate about the azimuth axis and the elevation axis such that the laser is configured to scan a setting. The control system may also be configured to direct the cameras to each begin capturing an image of the setting at substantially the same time.