公开(公告)号：US11568559B2

公开(公告)日：2023-01-31

申请号：US16991890

申请日：2020-08-12

Applicant: LEICA GEOSYSTEMS AG

Inventor： Zoltán Török ,  Thomas Mörwald

IPC: G06T7/70 ,  G06T7/30 ,  G01C11/02 ,  G06T7/60

Abstract: A method for surveying an environment by a movable surveying instrument configured to be carried by a human with a progressional capturing of 2D-images by at least one camera and applying a visual simultaneous location and mapping algorithm (VSLAM) or a visual inertial simultaneous location and mapping algorithm (VISLAM) with a progressional deriving of a sparse evolving point cloud of at least part of the environment, and a progressional deriving of a trajectory of movement. The method comprises a progressional matching of the sparse evolving point cloud with a known CAD-geometry, with a minimizing of a function configured to model a distance between the sparse point cloud and the known CAD-geometry and deriving a spatial localization and orientation of the surveying instrument. At least one surveying measurement value of the environment by a spatial measurement unit is combined with the sparse point cloud or the plan information.

公开(公告)号：US12025439B2

公开(公告)日：2024-07-02

申请号：US16781906

申请日：2020-02-04

Applicant: LEICA GEOSYSTEMS AG

Inventor： Zoltán Török ,  Stefan Martin Benjamin Gächter Toya ,  Thomas Mörwald ,  Ulrich Hornung

IPC: G01C3/08 ,  G01B11/00 ,  G01C1/04 ,  G01C11/02 ,  G01C15/00 ,  G01S17/89 ,  G06V20/10 ,  G06V20/64 ,  H04N7/18

CPC classification number: G01C1/04 ,  G01B11/005 ,  G01C3/08 ,  G01C11/02 ,  G01C15/002 ,  G01C15/008 ,  G01S17/89 ,  G06V20/10 ,  G06V20/64 ,  H04N7/188 ,  G06V2201/07

Abstract: Surveying apparatus comprising an event-based camera comprising a dynamic vision sensor. The events detected by the camera are used, by means of target radiation, to determine a direction to a target to be surveyed or to determine camera poses of the camera in the context of visual odometry or determining the location of the surveying apparatus

公开(公告)号：US11544860B2

公开(公告)日：2023-01-03

申请号：US17000145

申请日：2020-08-21

Applicant: LEICA GEOSYSTEMS AG

Inventor： Thomas Mörwald ,  Zoltán Török ,  Bernhard Metzler

IPC: G06T7/33 ,  G01S17/894 ,  G06T3/40 ,  G06T5/50 ,  G06T19/20

Abstract: Three-dimensional (3D) point cloud generation using a stationary laser scanner and a mobile scanner. The method includes scanning a first part of a surrounding with the stationary laser scanner, obtaining a first 3D point cloud, scanning a second part of the surrounding with the mobile scanner, obtaining a second 3D point cloud, whereby there is an overlap region of the first part and the second part, and aligning the second 3D point cloud to the first 3D point cloud to form a combined 3D point cloud. The positional accuracy of points of the second 3D point cloud is increased by automatically referencing second scanner data of the overlap region, generated by the mobile scanner, to first scanner data of the overlap region, generated by the stationary laser scanner. Therewith, deformations of the second 3D point cloud and its alignment with the first 3D point cloud are corrected.