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System and method for measuring by laser sweeps

  • US 10,060,730 B2
  • Filed: 10/30/2014
  • Issued: 08/28/2018
  • Est. Priority Date: 11/01/2013
  • Status: Active Grant
First Claim
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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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