DEVICE AND METHOD FOR OPTICALLY SCANNING AND MEASURING AN ENVIRONMENT

• US 20160073085A1
• Filed: 05/15/2015
• Published: 03/10/2016
• Est. Priority Date: 09/10/2014
• Status: Active Grant

• Current Assignee: Faro Technologies Incorporated
• Original Assignee: Faro Technologies Incorporated
• Inventors: Hillebrand, Gerrit, Debitsch, Rasmus, Heidemann, Rolf
• Granted Patent: US 10,070,116 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G01B 11/002 for measuring two or more coordinates
• CPC Class Codes: G01B 11/2545 with one projection direction and several detection directions, e.g. stereo
• CPC Class Codes: G06T 19/00 Manipulating 3D models or images for computer graphics
• CPC Class Codes: G06T 2207/10024 Color image
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 2210/56 Particle system, point based geometry or rendering
• CPC Class Codes: G06T 7/30 Determination of transform parameters for the alignment of images, i.e. image registration
• CPC Class Codes: H04N 13/15 for colour aspects of image signals
• CPC Class Codes: H04N 13/167 Synchronising or controlling image signals
• CPC Class Codes: H04N 13/189 Recording image signals; Reproducing recorded image signals
• CPC Class Codes: H04N 13/239 using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 13/254 in combination with electromagnetic radiation sources for illuminating objects
• CPC Class Codes: H04N 2013/0081 Depth or disparity estimation from stereoscopic image signals
• CPC Class Codes: H04N 23/50 Constructional details
• CPC Class Codes: H04N 23/635 Region indicators; Field of view indicators

Abstract

A method for scanning and measuring an environment is provided. The method includes providing a three-dimensional (3D) measurement device having a controller. Images of the environment are recorded and a 3D scan of the environment is produced with a three-dimensional point cloud. A video image of the environment is recorded. The video image is displayed on a first portion of a display. A portion of the three-dimensional point cloud is displayed on a second portion of the display, the second portion of the display being arranged about the periphery of the first portion of the display. Wherein a portion of the 3D point cloud displayed in the second portion represents a portion of the environment outside of a field of view of the video image.

Claims

1. Method for optically scanning and measuring an environment comprising:

providing a three-dimensional (3D) measurement device having at least one camera and a projector, the 3D measurement device further having a control and evaluation device operably coupled to the at least one camera and the projector;

recording images of the environment with the at least one camera;

producing a 3D scan of the environment with a three-dimensional point cloud;

recording a video image of the environment;

displaying the video image on a first portion of a display; and

displaying at least a portion of the three-dimensional point cloud on a second portion of the display, the second portion of the display being arranged about the periphery of the first portion of the display;

wherein the at least a portion of the three-dimensional point cloud displayed in the second portion represents a portion of the environment outside of a field of view of the video image.

2. A method according to claim 1 wherein the at least a portion of the three-dimensional point cloud displayed in the second portion adjoins the video image continuously.

3. A method according to claim 1 wherein a portion of the three-dimensional point cloud which is obscured by the video image is represented on the display by coloring the video image in a color which corresponds to a density of the points of the three-dimensional point cloud.

4. Method according to claim 1 further comprising displaying marks for recognizable structures in the environment that are represented on the display in the video image.

5. Method according to claim 4 wherein the density of the marks is a qualitative measure for a level of a registration of multiple 3D scans.

6. Method according to claim 4 wherein the recognizable structures are localized in the three-dimensional point cloud or in the video image.

7. Method according to claim 1 further comprising:

producing with the projector at least one pattern on an object in the environment; and

recording images of the object which include the pattern.

8. The method according to claim 1 further comprising:

producing with the projector at least one pattern on an object in the environment; and

recording with the second camera video images of the object in the visible wave-length range, while the projector produces the pattern in the infrared range.

9. The method of claim 6 wherein the at least two cameras are sensitive to light within the wave-length range of the pattern.

10. A device comprising:

at least two first cameras arranged a predetermined first distance apart, each of the at least two cameras configured to record images of the environment;

a projector attached a predetermined second distance from the at least two first cameras;

a second camera arranged a predetermined distance from the projector, the second camera configured to record a video image of the environment;

a controller operably coupled to the at least two first cameras, the projector and the second camera, the controller being responsive to producing a three-dimensional point cloud in response to the images recorded in the environment; and

a display operably coupled to the controller, the display having a first portion displaying the video image and a second portion displaying the three-dimensional point cloud, the second portion being arranged about the periphery of the first portion, wherein the portion of the point cloud displayed in the second portion represents areas of the environment outside of a field of view of the video image.

11. The device of claim 10 wherein the controller is configured to change the color of the video image in the first portion in response to a determination of a density of points in the three-dimensional point cloud.

12. The device of claim 11 wherein the controller is further configured to display marks in the first portion in response to determining the presence of recognizable structures in the video image.

13. Method for optically scanning and measuring an environment comprising:

providing a three-dimensional (3D) measurement device having at least two cameras, the 3D measurement device further having a control and evaluation device operably coupled to the at least two cameras;

recording images of the environment with the at least two cameras;

producing a 3D scan of the environment with a three-dimensional point cloud;

recording a video image of the environment;

displaying the video image on a first portion of a display; and

displaying at least a portion of the three-dimensional point cloud on a second portion of the display, the second portion of the display being arranged about the periphery of the first portion of the display;

wherein the at least a portion of the three-dimensional point cloud displayed in the second portion represents a portion of the environment outside of a field of view of the video image.

14. Method according to claim 13 wherein the at least a portion of the three-dimensional point cloud displayed in the second portion adjoins the video image continuously.

15. Method according to claim 13 a portion of the three-dimensional point cloud which is obscured by the video image is represented on the display by coloring the video image in a color which corresponds to a density of the points of the three-dimensional point cloud.

16. A method according to claim 13 wherein a portion of the three-dimensional point cloud which is obscured by the video image is represented on the display by coloring the video image in a color which corresponds to a precision of the points of the three-dimensional point cloud.

17. Method according to claim 13 further comprising displaying marks for recognizable structures in the environment that are represented on the display in the video image.