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1.发明授权公开(公告)号：US08260584B2
公开(公告)日：2012-09-04
申请号：US12651950
申请日：2010-01-04
申请人： Jeffrey Minoru Adachi , Mark Damon Wheeler , Jonathan Apollo Kung , Richard William Bukowski , Laura Michele Downs
发明人： Jeffrey Minoru Adachi , Mark Damon Wheeler , Jonathan Apollo Kung , Richard William Bukowski , Laura Michele Downs
CPC分类号： G06T17/00
摘要： A computer model of a physical structure (or object) can be generated using context-based hypothesis testing. For a set of point data, a user selects a context specifying a geometric category corresponding to the structure shape. The user specifies at least one seed point from the set that lies on a surface of the structure of interest. Using the context and point data, the system loads points in a region near the seed point(s), and determines the dimensions and orientation of an initial surface component in the context that corresponds to those points. If the selected component is supported by the points, that component can be added to a computer model of the surface. The system can repeatedly find points near a possible extension of the surface model, using the context and current surface component(s) to generate hypotheses for extending the surface model to these points. Well-supported components can be added to the surface model until the surface of the structure of interest has been modeled as far as is well-supported by the point data.
摘要翻译： 可以使用基于上下文的假设检验来生成物理结构（或对象）的计算机模型。 对于一组点数据，用户选择指定对应于结构形状的几何类别的上下文。 用户从集合中指定位于感兴趣结构的表面上的至少一个种子点。 使用上下文和点数据，系统加载种子点附近的区域中的点，并确定与这些点对应的上下文中的初始表面分量的尺寸和方向。 如果所选择的组件由点支持，则该组件可以添加到表面的计算机模型。 系统可以使用上下文和当前表面分量来重复找到靠近表面模型的可能扩展点，以产生用于将表面模型扩展到这些点的假设。 可以将良好支持的组件添加到表面模型中，直到感兴趣的结构的表面被建模为点数据的良好支持。
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2.发明授权System and method for efficient storage and manipulation of extremely large amounts of scan data 有权用于高效存储和操纵极大量扫描数据的系统和方法公开(公告)号：US07373473B2
公开(公告)日：2008-05-13
申请号：US11076220
申请日：2005-03-09
IPC分类号： G06F12/02
CPC分类号： G06F17/30241 , Y10S707/99945 , Y10S707/99948
摘要： Large data sets can be stored and processed in real time by combining and registering the large data sets into a single data set. The data can be stored in a data tree structure formed of layers of spatially organized blocks of data. Such storage allows portions of the data to be viewed efficiently, displaying actual point data at an acceptable resolution for the viewing mechanism. Density limited queries can be executed that allow sub-sampling to be done directly and evenly without geometric constraint, to provide a subset of points that is limited in size and includes a spatially-even decomposition of that set of points. This allows the system as a whole to support arbitrarily large point sets while allowing full partitioning functionality, which is efficient to use in both time and space.
摘要翻译： 可以通过将大数据集合并注册到单个数据集中来实时存储和处理大数据集。 数据可以存储在由空间有组织的数据块的层组成的数据树结构中。 这样的存储允许有效地查看数据的部分，以观看机制的可接受分辨率显示实际点数据。 可以执行密度有限查询，其允许在不具有几何约束的情况下直接且均匀地完成子采样，以提供受限于尺寸的点的子集，并且包括该组点的空间均匀分解。 这允许系统作为一个整体来支持任意大的点集，同时允许完全分区功能，这在时间和空间上都是有效的。
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3.发明授权公开(公告)号：US07643966B2
公开(公告)日：2010-01-05
申请号：US11075167
申请日：2005-03-08
申请人： Jeffrey Minoru Adachi , Mark Damon Wheeler , Jonathan Apollo Kung , Richard William Bukowski , Laura Michele Downs
发明人： Jeffrey Minoru Adachi , Mark Damon Wheeler , Jonathan Apollo Kung , Richard William Bukowski , Laura Michele Downs
IPC分类号： G06F17/00 , G06F19/00 , G06K9/46 , G06K9/52 , G06K9/62 , G06K9/64 , G06K9/68 , G06T15/00 , G06T15/10 , G06E1/00 , G06G7/00 , G06K9/20 , G06K9/00
CPC分类号： G06T17/00
摘要： A computer model of a physical structure (or object) can be generated using context-based hypothesis testing. For a set of point data, a user selects a context specifying a geometric category corresponding to the structure shape. The user specifies at least one seed point from the set that lies on a surface of the structure of interest. Using the context and point data, the system loads points in a region near the seed point(s), and determines the dimensions and orientation of an initial surface component in the context that corresponds to those points. If the selected component is supported by the points, that component can be added to a computer model of the surface. The system can repeatedly find points near a possible extension of the surface model, using the context and current surface component(s) to generate hypotheses for extending the surface model to these points. Well-supported components can be added to the surface model until the surface of the structure of interest has been modeled as far as is well-supported by the point data.
摘要翻译： 可以使用基于上下文的假设检验来生成物理结构（或对象）的计算机模型。 对于一组点数据，用户选择指定对应于结构形状的几何类别的上下文。 用户从集合中指定位于感兴趣结构的表面上的至少一个种子点。 使用上下文和点数据，系统加载种子点附近的一个区域中的点，并确定与这些点对应的上下文中的初始表面分量的尺寸和方向。 如果所选择的组件由点支持，则该组件可以添加到表面的计算机模型。 系统可以使用上下文和当前表面分量来重复找到靠近表面模型的可能扩展点，以产生用于将表面模型扩展到这些点的假设。 可以将良好支持的组件添加到表面模型中，直到感兴趣的结构的表面被建模为点数据的良好支持。
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4.发明申请公开(公告)号：US20100145666A1
公开(公告)日：2010-06-10
申请号：US12651950
申请日：2010-01-04
申请人： Jeffrey Minoru Adachi , Mark Damon Wheeler , Jonathan Apollo Kung , Richard William Bukowski , Laura Michele Downs
发明人： Jeffrey Minoru Adachi , Mark Damon Wheeler , Jonathan Apollo Kung , Richard William Bukowski , Laura Michele Downs
CPC分类号： G06T17/00
摘要： A computer model of a physical structure (or object) can be generated using context-based hypothesis testing. For a set of point data, a user selects a context specifying a geometric category corresponding to the structure shape. The user specifies at least one seed point from the set that lies on a surface of the structure of interest. Using the context and point data, the system loads points in a region near the seed point(s), and determines the dimensions and orientation of an initial surface component in the context that corresponds to those points. If the selected component is supported by the points, that component can be added to a computer model of the surface. The system can repeatedly find points near a possible extension of the surface model, using the context and current surface component(s) to generate hypotheses for extending the surface model to these points. Well-supported components can be added to the surface model until the surface of the structure of interest has been modeled as far as is well-supported by the point data
摘要翻译： 可以使用基于上下文的假设检验来生成物理结构（或对象）的计算机模型。 对于一组点数据，用户选择指定对应于结构形状的几何类别的上下文。 用户从集合中指定位于感兴趣结构的表面上的至少一个种子点。 使用上下文和点数据，系统加载种子点附近的区域中的点，并确定与这些点对应的上下文中的初始表面分量的尺寸和方向。 如果所选择的组件由点支持，则该组件可以添加到表面的计算机模型。 系统可以使用上下文和当前表面分量来重复找到靠近表面模型的可能扩展点，以产生用于将表面模型扩展到这些点的假设。 良好支持的组件可以添加到表面模型中，直到感兴趣的结构的表面被建模为点数据的良好支持
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5.发明授权Determining appearance of points in point cloud based on normal vectors of points 有权基于点的法向向量确定点云中的点的外观公开(公告)号：US07737973B2
公开(公告)日：2010-06-15
申请号：US11415589
申请日：2006-05-01
CPC分类号： G06T15/02
摘要： A method relating to a point cloud includes defining a line of sight of a point cloud on a display of a computer, estimating a normal vector for at least one point of the plurality of points, and determining the appearance on the display of at least one point of the plurality of points based on the step of estimating a normal vector. One can use the computer to manipulate the point cloud to display a selected view of the scene and calculate the angle between the normal vector of the at least one point and a line of sight. The step of determining the appearance can include determining the transparency, color or size of the point on the display according to the angle between the normal vector and the line of sight.
摘要翻译： 涉及点云的方法包括：在计算机的显示器上定义点云的视线，估计多个点中的至少一个点的法线向量，以及确定显示器上的至少一个 基于估计法线矢量的步骤的多个点的点。 可以使用计算机来操纵点云以显示场景的选定视图，并计算至少一个点的法线矢量与视线之间的角度。 确定外观的步骤可以包括根据法向量和视线之间的角度确定显示器上的点的透明度，颜色或尺寸。
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公开(公告)号：US07995054B2
公开(公告)日：2011-08-09
申请号：US11285474
申请日：2005-11-21
CPC分类号： G06K9/4609 , G06K9/00201 , G06K2009/366
摘要： An improved interface and algorithm(s) can be used to simplify and improve the process for locating an edge from a series of points in a point cloud. An interface can allow the user to select a hint point thought to be near an edge of interest, which can be used to generate an initial edge profile. An interface can allow the user to adjust the fit of the initial profile in cross-section, then can use that profile to generate a profile of the entire edge. A moving fit window can use a moving average to extend the edge and determine proper end locations. An interface then can display the results of the fit to the user and allow the user to adjust the fit, such as by adjusting the end points of the calculated edge. Such a process can be used to fit linear or curvilinear edges, and can fit a number of irregular shapes as well as regular shaped such as “v-shaped” edges.
摘要翻译： 可以使用改进的接口和算法来简化和改进用于从点云中的一系列点定位边缘的过程。 接口可以允许用户选择被认为是靠近感兴趣的边缘的提示点，其可用于生成初始边缘轮廓。 接口可以允许用户在横截面中调整初始轮廓的拟合，然后可以使用该轮廓来生成整个边缘的轮廓。 移动的适合窗口可以使用移动平均来延伸边缘并确定正确的终点位置。 然后，接口可以显示适合用户的结果，并允许用户调整配合，例如通过调整计算边缘的终点。 这种工艺可以用来装配线性或曲线边缘，并且可以适应许多不规则形状以及规则形状，例如“v形”边缘。
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公开(公告)号：US08042056B2
公开(公告)日：2011-10-18
申请号：US11080212
申请日：2005-03-15
申请人： Mark Damon Wheeler , Jonathan Apollo Kung , Richard William Bukowski , Laslo Vespremi , Daniel Chudak
发明人： Mark Damon Wheeler , Jonathan Apollo Kung , Richard William Bukowski , Laslo Vespremi , Daniel Chudak
IPC分类号： G06F3/048
CPC分类号： G06F3/04845 , G06T19/00 , G06T2200/16 , G06T2219/028
摘要： A representation of a physical object can be displayed even where the amount of geometric data is too large to be stored in resident memory. A primary viewing window displays point data for the object using a substantially even sampling of data at an appropriate point density for the system. At least one auxiliary viewing window displays a two-dimensional representation of the point data. A user can select a portion of the data in the auxiliary window(s), such as by selecting cells of an overlaid grid, to be displayed in the primary window using a rendering such as a “visible” rendering. The remainder of the displayed data can be displayed using a rendering such as a “hidden” or “transparent” rendering. The resolution of the selected region can be increased while maintaining a substantially even spacing among points for the region. The resolution of the unselected region can be decreased accordingly.
摘要翻译： 即使在几何数据量太大而不能存储在驻留存储器中的情况下，也可以显示物理对象的表示。 主观察窗口使用对于系统的适当的点密度使用基本上均匀的数据采样来显示对象的点数据。 至少一个辅助观察窗口显示点数据的二维表示。 用户可以使用诸如“可见”呈现的呈现来选择辅助窗口中的数据的一部分，例如通过选择叠加的网格的单元，以在主窗口中显示。 可以使用诸如“隐藏”或“透明”呈现的呈现来显示所显示的数据的其余部分。 可以增加所选区域的分辨率，同时在该区域的点之间保持基本均匀的间距。 未选区域的分辨率可以相应地减小。
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公开(公告)号：US07843448B2
公开(公告)日：2010-11-30
申请号：US11285582
申请日：2005-11-21
CPC分类号： G01S17/89 , G06T17/00 , G06T2200/24
摘要： An improved interface and algorithm(s) can be used to simplify and improve the process for locating an occluded edge from a series of points in a point cloud. An interface can allow the user to select a hint point thought to be near an edge of interest, which can be used to generate an initial edge profile. An interface can allow the user to adjust the fit of the initial profile in cross-section, then can use that profile to generate a profile of the entire edge. A moving fit window can use an imaginary plane to provide an additional constraint, and can utilize a moving average to extend the edge and determine proper end locations. An interface then can display the results of the fit to the user and allow the user to adjust the fit, such as by adjusting the end points of the calculated edge. Such a process can be used to fit linear or curvilinear occluded edges, and can fit a number of irregular shapes as well as regular shaped edges such as “v-shaped” edges.
摘要翻译： 可以使用改进的接口和算法来简化和改进用于从点云中的一系列点定位遮挡边缘的过程。 接口可以允许用户选择被认为是靠近感兴趣的边缘的提示点，其可用于生成初始边缘轮廓。 接口可以允许用户在横截面中调整初始轮廓的拟合，然后可以使用该轮廓来生成整个边缘的轮廓。 移动的适合窗口可以使用虚拟平面来提供额外的约束，并且可以利用移动平均来延伸边缘并且确定正确的端部位置。 然后，接口可以显示适合用户的结果，并允许用户调整配合，例如通过调整计算边缘的终点。 这种过程可以用于装配线性或曲线闭塞的边缘，并且可以适应许多不规则形状以及诸如“v形”边缘的规则形状的边缘。
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9.发明申请RAPID, SPATIAL-DATA VIEWING AND MANIPULATING INCLUDING DATA PARTITION AND INDEXING 有权快速，空间数据查看和操作，包括数据分区和索引公开(公告)号：US20120179690A1
公开(公告)日：2012-07-12
申请号：US13425126
申请日：2012-03-20
IPC分类号： G06F17/30
CPC分类号： G01C15/002 , G01S17/89
摘要： A high-density, distance-measuring laser system and an associated computer that processes the data collected by the laser system. The computer determines a data partition structure and stores that structure as a header file for the scan before data is collected. As the scan progresses, the computer collects data points until a predetermined threshold is met, at which point a block of data consisting of the data points up to the threshold is written to disk. The computer indexes each data block using all three coordinates of its constituent data points using, preferably, a flexible index, such as an R-tree. When a data block is completely filled, it is written to disk preferably with its index and, as a result, each data block is ready for access and manipulation virtually immediately after having been collected. Also, each data block can be independently manipulated and read from disk.
摘要翻译： 高密度，距离测量激光系统和处理由激光系统收集的数据的相关计算机。 计算机确定数据分区结构，并将该结构存储为数据收集之前的扫描头文件。 随着扫描的进行，计算机收集数据点直到达到预定的阈值，此时由数据点组成的高达阈值的数据块被写入磁盘。 计算机使用优选地，诸如R树的柔性索引，使用其组成数据点的所有三个坐标对每个数据块进行索引。 当数据块被完全填满时，最好以其索引写入磁盘，结果，每个数据块在被收集之后几乎立即准备进行访问和操作。 此外，每个数据块可以独立地从磁盘操作和读取。
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10.发明授权Image-mapped point cloud with ability to accurately represent point coordinates 有权图像映射点云具有准确表示点坐标的能力公开(公告)号：US07990397B2
公开(公告)日：2011-08-02
申请号：US11649539
申请日：2007-01-04
摘要： A laser scanner scans a scene to form a point cloud representing points on a surface within the scene. The point cloud is used to create a corresponding visual representation of the point cloud from a single eye point that is displayed as an image array, such as a cube map, on a computer screen. Each point of the point cloud is represented on the computer screen as a pixel having a value other than a background value. An offset is determined between a reference position of the pixel and an intersection point, which is the point at which a ray from the point to the scanning position intersects a plane coincident with plane of the computer screen including the pixel. The offset is stored in an offset grid, whereby each pixel of the image array has a corresponding offset value in the offset grid. That is, the invention provides for encoding actual point coordinates with respect to the pixels of the image array by storing depth and angular offsets at each pixel in the image array that has an associated point. If the point spacing in a certain region is wider than the image array pixels, the gaps can be filled with, for example, RGB values to make the displayed image continuous.
摘要翻译： 激光扫描仪扫描场景以形成表示场景中表面上的点的点云。 点云被用于从计算机屏幕上显示为诸如立方体映射的图像阵列的单个眼点创建点云的相应视觉表示。 点云的每个点在计算机屏幕上表示为具有不同于背景值的值的像素。 在像素的参考位置和交点之间确定偏移，该交点是从点到扫描位置的光线与包括像素的计算机屏幕的平面重合的平面相交点。 偏移量存储在偏移网格中，由此图像阵列的每个像素在偏移网格中具有相应的偏移值。 也就是说，本发明提供了通过在具有关联点的图像阵列中的每个像素处存储深度和角度偏移来相对于图像阵列的像素编码实际点坐标。 如果特定区域中的点间隔比图像阵列像素宽，则可以用例如RGB值填充间隙以使显示的图像连续。
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