GPS-enhanced system and method for automatically capturing and co-registering virtual models of a site
First Claim
Patent Images
1. A system for capturing a virtual model of a site comprising:
- a range scanner for scanning a site to generate range data indicating distances from the range scanner to real-world objects within the site;
a global positioning system (GPS) receiver coupled to the range scanner for acquiring GPS data for the range scanner at a scanning location; and
a communication interface for outputting a virtual model comprising the range data and the GPS data.
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Abstract
A system for capturing a virtual model of a site includes a range scanner for scanning the site to generate range data indicating distances from the range scanner to real-world objects. The system also includes a global positioning system (GPS) receiver coupled to the range scanner for acquiring GPS data for the range scanner at a scanning location. In addition, the system includes a communication interface for outputting a virtual model comprising the range data and the GPS data.
127 Citations
63 Claims
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1. A system for capturing a virtual model of a site comprising:
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a range scanner for scanning a site to generate range data indicating distances from the range scanner to real-world objects within the site;
a global positioning system (GPS) receiver coupled to the range scanner for acquiring GPS data for the range scanner at a scanning location; and
a communication interface for outputting a virtual model comprising the range data and the GPS data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A system for capturing a virtual model of a site comprising:
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a range scanner for scanning the site to generate a first set of range data indicating distances from the range scanner at a first location to real-world objects in the site;
a global positioning system (GPS) receiver coupled to the range scanner for acquiring a first set of GPS data for the range scanner at the first scanning location; and
a communication interface for outputting a first virtual model comprising the first sets of range data and GPS data;
wherein the range scanner is to re-scan the site to generate a second set of range data indicating distances from the range scanner at a second scanning location to real-world objects in the site;
wherein the GPS receiver is to obtain a second set of GPS data for the range scanner at the second location; and
wherein the communication interface is to output a second virtual model comprising the second sets of range data and GPS data. - View Dependent Claims (13, 14, 15)
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16. A system for building a virtual model of a site comprising:
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a communication interface for receiving a first set of range data indicating distances from a range scanner at a first location to real-world objects within the site;
wherein the communication interface is also to receive a first set of GPS data for the range scanner at the first location; and
a transformation module for using the first set of GPS data with orientation information for the range scanner at the first location to automatically transform the first set of range data from a first local coordinate system to a modeling coordinate system independent of the first location. - View Dependent Claims (17, 18, 19)
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20. A system for modeling an object comprising:
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a range scanner for scanning an object from a first vantage point to generate a first range image;
a global positioning system (GPS) receiver for obtaining GPS readings for the first vantage point;
a storage medium for associating the first range image and the GPS readings within a first virtual model. - View Dependent Claims (21, 22, 23, 24, 25, 26, 27, 28)
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29. A data structure for modeling a site comprising:
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range data indicating distances from a range scanner to real-world objects within the site;
global positioning system (GPS) data for the range scanner at a scanning location;
orientation information indicating at least a bearing of the range scanner with respect to a coordinate system independent of the scanning location. - View Dependent Claims (30)
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31. A method for capturing a virtual model of a site comprising:
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scanning a site to generate range data indicating distances from a range scanner to real-world objects within the site;
acquiring GPS data for the range scanner at a scanning location; and
outputting a virtual model comprising the range data and the GPS data. - View Dependent Claims (32, 33, 34, 35, 36, 37, 38, 39, 40, 41)
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42. A method for capturing a virtual model of a site comprising:
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scanning the site to generate a first set of range data indicating distances from a range scanner at a first location to real-world objects in the site;
acquiring a first set of GPS data for the range scanner at the first location;
outputting a first virtual model comprising the first sets of range data and GPS data;
scanning the site to generate a second set of range data indicating distances from the range scanner at a second location to real-world objects in the site;
acquiring a second set of GPS data for the range scanner at the second location; and
outputting a second virtual model comprising the second sets of range data and GPS data. - View Dependent Claims (43, 44, 45)
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46. A method for building a virtual model of a site comprising:
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receiving a first set of range data indicating distances from a range scanner at a first location to real-world objects within the site;
receiving a first set of GPS data for the range scanner at the first location; and
using the first set of GPS data with orientation information for the range scanner at the first location to automatically transform the first set of range data from a first local coordinate system to a modeling coordinate system independent of the first location. - View Dependent Claims (47, 48, 49)
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50. A method for modeling an object comprising:
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scanning an object from a first vantage point to generate a first range image;
acquiring GPS readings for the first vantage point; and
associating the first range image and the GPS readings within a first virtual model. - View Dependent Claims (51, 52, 53, 54, 55, 56, 57)
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58. A system for creating a virtual model of an area including multiple sites, the system comprising:
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a range scanner equipped with a global positioning system (GPS) receiver to generate a model of a first site within the area, the first site model comprising GPS data, wherein the range scanner is also to generate a model of a second site within the area, the second site model comprising GPS data; and
a co-registration module for combining the first site model and the second site model into an area model responsive to the GPS data. - View Dependent Claims (59)
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60. A method for creating a virtual model of an area including multiple sites, the method comprising:
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using a range scanner equipped with a global positioning system (GPS) receiver to generate a model of a first site within the area, the first site model comprising GPS data;
using the range scanner to generate a model of a second site within the area, the second site model comprising GPS data; and
combining the first site model and the second site model into an area model responsive to the GPS data. - View Dependent Claims (61)
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62. An apparatus comprising:
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means for scanning a site to generate range data indicating distances from a range scanner to real-world objects within the site;
means for acquiring GPS data for the range scanner at a scanning location; and
means for outputting a virtual model comprising the range data and the GPS data.
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63. A computer program product comprising program code for performing a method for building a virtual model of a site, the method comprising:
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receiving a first set of range data indicating distances from a range scanner at a first location to real-world objects within the site;
receiving a first set of GPS data for the range scanner at the first location;
using the first set of GPS data with orientation information for the range scanner at the first location to automatically transform the first set of range data from a first local coordinate system to a modeling coordinate system, wherein the modeling coordinate system is independent of the first location;
storing a first virtual model based on the first sets of range data and GPS data;
receiving a second set of range data indicating distances from a range scanner at a second location to real-world objects within the site;
receiving a second set of GPS data for the range scanner at the second location;
using the second set of GPS data with orientation information for the range scanner at the second location to automatically transform the second set of range data from a second local coordinate system to the modeling coordinate system; and
storing a second virtual model comprising the second sets of range data and GPS data.
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Specification