System and method for measuring by laser sweeps
First Claim
1. A method of performing geometrical measurements of remote objects, the method comprising:
- performing a laser sweep of a measurement object with a handheld sensor device, the handheld sensor device including a distance measurement unit and an inertial measurement unit, the distance measurement unit being configured to measure a distance to a point on the object in a measurement direction, the measurement direction being defined by an orientation of the handheld sensor device;
activating the distance measurement unit to perform a plurality of distance measurements during the laser sweep;
activating the inertial measurement unit to perform an inertial measurement in association with each of the distance measurements;
using a processor to process the distance measurements, wherein the inertial measurements include position and orientation data pertaining to the handheld measuring device, with reference to the associated inertial measurements to determine a geometric characteristic of the measurement object;
using the processor to generate a three-dimensional (3D) point collection for the measurement object from the distance measurements and the associated inertial measurements;
further comprising;
using the processor to reduce the 3D point collection to a collection of two-dimensional (2D) points;
using the processor for the detection and segmentation of 2D lines in the 2D point collection;
using the processor to compute intersection points between the 2D lines; and
using the processor estimate at least one of;
a dimension of a wall based on the Euclidian distance between the intersection points; and
an angle between two walls based on an angle between two intersecting 2D lines.
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Abstract
A method of performing geometrical measurements of remote objects includes performing a laser sweep of a measurement object with a handheld sensor device including a distance measurement unit and an inertial measurement unit. The method includes activating the distance measurement unit to perform a plurality of distance measurements during the laser sweep, and activating the inertial measurement unit to perform an inertial measurement in association with each of the distance measurements. A processor is used to process the distance measurements with reference to the associated inertial measurements to determine a geometric characteristic of the measurement object.
10 Citations
13 Claims
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1. A method of performing geometrical measurements of remote objects, the method comprising:
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performing a laser sweep of a measurement object with a handheld sensor device, the handheld sensor device including a distance measurement unit and an inertial measurement unit, the distance measurement unit being configured to measure a distance to a point on the object in a measurement direction, the measurement direction being defined by an orientation of the handheld sensor device; activating the distance measurement unit to perform a plurality of distance measurements during the laser sweep; activating the inertial measurement unit to perform an inertial measurement in association with each of the distance measurements; using a processor to process the distance measurements, wherein the inertial measurements include position and orientation data pertaining to the handheld measuring device, with reference to the associated inertial measurements to determine a geometric characteristic of the measurement object; using the processor to generate a three-dimensional (3D) point collection for the measurement object from the distance measurements and the associated inertial measurements; further comprising; using the processor to reduce the 3D point collection to a collection of two-dimensional (2D) points; using the processor for the detection and segmentation of 2D lines in the 2D point collection; using the processor to compute intersection points between the 2D lines; and using the processor estimate at least one of; a dimension of a wall based on the Euclidian distance between the intersection points; and an angle between two walls based on an angle between two intersecting 2D lines. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A handheld sensing device comprising:
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a portable housing defining a measurement direction; a distance measurement unit supported by the housing and configured to measure a distance to a remote point in the measurement direction; an inertial measurement unit supported by the housing and configured to perform an inertial measurement in association with each distance measurement and comprising at least one of an accelerometer, a gyroscope, and a compass; and a processor configured to process the distance measurements with reference to the associated inertial measurements to determine a geometric characteristic of a measurement object, to generate a three-dimensional (3D) point collection for the measurement object from the distance measurements and the associated inertial measurements; wherein the processor is further configured; to reduce the 3D point collection to a collection of two-dimensional (2D) points; to perform detection and segmentation of 2D lines in the 2D point collection; to compute intersection points between the 2D lines; and to estimate at least one of; a dimension of a wall based on the Euclidian distance between the intersection points; and an angle between two walls based on an angle between two intersecting 2D lines. - View Dependent Claims (11, 12, 13)
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Specification