Using a two-dimensional scanner to speed registration of three-dimensional scan data

• US 10,203,413 B2
• Filed: 08/21/2017
• Issued: 02/12/2019
• Est. Priority Date: 10/05/2012
• Status: Active Grant

• Current Assignee: Faro Technologies Incorporated
• Original Assignee: Faro Technologies Incorporated
• Inventors: Zweigle, Oliver, Becker, Bernd-Dietmar, Becker, Reinhard
• Primary Examiner(s): Ratcliffe, Luke D
• Application Number:
  US15/681,862
• Publication Number:
  US 20170343674A1
• Time in Patent Office: 540 Days
• CPC Class Codes: B25J 13/08 by means of sensing devices, e.g. viewing or touching devices
• CPC Class Codes: G01B 11/002 for measuring two or more coordinates
• CPC Class Codes: G01B 11/272 using photoelectric detection means
• CPC Class Codes: G01C 15/002 Active optical surveying means optical plumbing G01C15/105
• CPC Class Codes: G01C 7/04 involving a vehicle which moves along the profile to be traced
• CPC Class Codes: G01S 17/36 with phase comparison between the received signal and the contemporaneously transmitted signal
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/87 Combinations of systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/88 Lidar systems specially adapted for specific applications
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 7/003 Transmission of data between radar, sonar or lidar systems and remote stations
• CPC Class Codes: G01S 7/4808 Evaluating distance, position or velocity data
• CPC Class Codes: G01S 7/4813 Housing arrangements
• CPC Class Codes: G01S 7/4817 relating to scanning
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G09B 29/004 Map manufacture or repair; Tear or ink or water resistant maps; Long-life maps printing processes for maps B41M3/02; by permanently attaching map sections to sheets B42B7/00

Abstract

A method for measuring and registering 3D coordinates has a 3D scanner measure a first collection of 3D coordinates of points from a first registration position. A 2D scanner collects horizontal 2D scan sets as 3D measuring device moves from first to second registration positions. A processor determines first and second translation values and a first rotation value based on collected 2D scan sets. 3D scanner measures a second collection of 3D coordinates of points from second registration position. Processor adjusts second collection of points relative to first collection of points based at least in part on first and second translation values and first rotation value. Processor identifies a correspondence among registration targets in first and second collection of 3D coordinates, and uses this correspondence to further adjust the relative position and orientation of first and second collection of 3D coordinates.

Claims

1. A three-dimensional (3D) measuring device comprising:

one or more processors;

a 3D scanner operable to cooperate with the one or more processors to determine 3D coordinates of a first object point, the 3D scanner being movable from a first position to a second position;

a 2D scanner operably coupled to the 3D scanner, the 2D scanner being operable to cooperate with the one or more processors to determine 2D coordinates of a second object point, the 2D scanner being movable from a third position to a fourth position;

wherein the one or more processors responsive to executable instructions which when executed by the processor system is operable to;

cause the 3D scanner, while positioned at a first position, to determine 3D coordinates of a first collection of points on an object surface;

cause the 2D scanner, while moving from the third position to the fourth position, to obtain a plurality of 2D scan sets, each of the plurality of 2D scan sets being a set of 2D coordinates of points on the object surface collected by the 2D scanner at a different position relative to the first position;

determine a first translation value, a second translation value, and a first rotation value based at least in part on a fitting of the plurality of 2D scan sets;

cause the 3D scanner, positioned at the second position, to determine 3D coordinates of a second collection of points on the object surface;

identify a correspondence between registration targets in the first collection of points and the second collection of points based at least in part on the first translation value, the second translation value, and the first rotation value; and

determine 3D coordinates of a registered 3D collection of points based on a correspondence among registration targets, the 3D coordinates of the first collection of points, and the 3D coordinates of the second collection of points.

2. The device of claim 1, wherein:

the 3D scanner includes a first light source and a first light receiver;

the 2D scanner having a second light source and a second light receiver;

the determination of the 3D coordinates of the first object point is based at least in part on a first light emitted from the first light source that is reflected off of the first object point and received by the first light receiver; and

the determination of the 2D coordinates of the second object point is based at least in part on a second light emitted by the second light source that is reflected off of the second object point and received by the second light receiver.

3. The device of claim 2, further comprising a sensor operably coupled to the 2D scanner, the sensor being operable to determine a position and orientation of the sensor.

4. The device of claim 3, wherein the position orientation sensor includes at least one sensor selected from the group consisting of an inclinometer, a gyroscope, a magnetometer, and an altimeter.

5. The device of claim 1, further comprising a movable member, the 3D scanner and 2D scanner being coupled to the movable member.

6. The device of claim 1, wherein the registration targets are natural features of the object surface.

7. A three-dimensional (3D) measuring device comprising:

one or more processors;

a 3D scanner operable to cooperate with the one or more processors to determine 3D coordinates of a first object point, the 3D scanner being movable from a first position to a second position;

a 2D scanner operably coupled to the 3D scanner, the 2D scanner being operable to cooperate with the one or more processors to determine 2D coordinates of a second object point, the 2D scanner being movable from a third position to a fourth position;

wherein the one or more processors responsive to executable instructions which when executed by the processor system is operable to;

cause the 3D scanner, while positioned at a first position, to determine 3D coordinates of a first collection of points on an object surface;

cause the 2D scanner, while moving from the third position to the fourth position, to obtain a plurality of 2D scan sets, each of the plurality of 2D scan sets being a set of 2D coordinates of points on the object surface collected by the 2D scanner at a different position relative to the first position;

determine a first translation value, a second translation value, and a first rotation value based at least in part on a fitting of the plurality of 2D scan sets;

cause the 3D scanner, positioned at the second position, to determine 3D coordinates of a second collection of points on the object surface;

identify a correspondence between registration targets in the first collection of points and the second collection of points based at least in part on the first translation value, the second translation value, and the first rotation value; and

determine 3D coordinates of a registered 3D collection of points based on a correspondence among registration targets, the 3D coordinates of the first collection of points, and the 3D coordinates of the second collection of points;

wherein the 3D scanner includes a first light source and a first light receiver;

wherein the 2D scanner having a second light source and a second light receiver;

wherein the determination of the 3D coordinates of the first object point is based at least in part on a first light emitted from the first light source that is reflected off of the first object point and received by the first light receiver;

wherein the determination of the 2D coordinates of the second object point is based at least in part on a second light emitted by the second light source that is reflected off of the second object point and received by the second light receiver; and

wherein the determination of the 3D coordinates of the first object point is further based at least in part on the speed of light in air.

8. A three-dimensional (3D) measuring device comprising:

one or more processors;

a 3D scanner operable to cooperate with the one or more processors to determine 3D coordinates of a first object point, the 3D scanner being movable from a first position to a second position;

a 2D scanner operably coupled to the 3D scanner, the 2D scanner being operable to cooperate with the one or more processors to determine 2D coordinates of a second object point, the 2D scanner being movable from a third position to a fourth position;

wherein the one or more processors responsive to executable instructions which when executed by the processor system is operable to;

cause the 3D scanner, while positioned at a first position, to determine 3D coordinates of a first collection of points on an object surface;

cause the 2D scanner, while moving from the third position to the fourth position, to obtain a plurality of 2D scan sets, each of the plurality of 2D scan sets being a set of 2D coordinates of points on the object surface collected by the 2D scanner at a different position relative to the first position;

determine a first translation value, a second translation value, and a first rotation value based at least in part on a fitting of the plurality of 2D scan sets;

cause the 3D scanner, positioned at the second position, to determine 3D coordinates of a second collection of points on the object surface;

identify a correspondence between registration targets in the first collection of points and the second collection of points based at least in part on the first translation value, the second translation value, and the first rotation value; and

determine 3D coordinates of a registered 3D collection of points based on a correspondence among registration targets, the 3D coordinates of the first collection of points, and the 3D coordinates of the second collection of points;

wherein the one or more processors are further responsive to causing the 3D scanner to automatically perform a scan of the object surface in response to stopping at the second position.

9. A method of determining three dimension coordinates, the method comprising:

scanning an object surface with a 3D scanner positioned at a first position, to determine 3D coordinates of a first collection of points on the object surface, the 3D scanner being movable from the first position to a second position;

scanning with a 2D scanner while moving the 2D scanner from a third position to a fourth position, to obtain a plurality of 2D scan sets, each of the plurality of 2D scan sets being a set of 2D coordinates of points on the object surface collected by the 2D scanner at a different position relative to the first position, the 2D scanner being operably coupled to the 3D scanner;

determining with one or more processors a first translation value, a second translation value, and a first rotation value based at least in part on a fitting of the plurality of 2D scan sets, the one or more processors being operably coupled to the 3D scanner and the 2D scanner;

scanning the object surface with the 3D scanner positioned at the second position to determine 3D coordinates of a second collection of points on the object surface;

identifying with the one or more processors a correspondence between registration targets in the first collection of points and the second collection of points based at least in part on the first translation value, the second translation value, and the first rotation value; and

determining with the one or more processors 3D coordinates of a registered 3D collection of points based on a correspondence among registration targets, the 3D coordinates of the first collection of points, and the 3D coordinates of the second collection of points.

10. The method of claim 9, further comprising determining a position and orientation of the 2D scanner as the 2D scanner is moved from the third position to the fourth position.

11. The method of claim 10, wherein the determination of the position and orientation of the 2D scanner is determined by a sensor selected from a group consisting of an inclinometer, a gyroscope, a magnetometer, and an altimeter.

12. The method of claim 9, further comprising moving the 3D scanner from the first position to the second position as the 2D scanner is moved from the third position to the fourth position.

13. The method of claim 9, wherein the scanning at the second position is performed automatically by the 3D scanner in response to the 3D scanner stopping at the second position.