Integrated system for quickly and accurately imaging and modeling three-dimensional objects

• US 6,330,523 B1
• Filed: 10/23/1998
• Issued: 12/11/2001
• Est. Priority Date: 04/24/1996
• Status: Expired due to Term

• Current Assignee: Leica Geosystems AG (Hexagon AB)
• Original Assignee: Cyra Technologies, Inc. (Hexagon AB)
• Inventors: Dimsdale, Jerry, Kacyra, Ben K.
• Primary Examiner(s): Hoff, Marc S.
• Assistant Examiner(s): Raymond, Edward
• Application Number:
  US09/177,949
• Time in Patent Office: 1,145 Days
• Field of Search: 702/159, 702/150, 702/151, 702/152, 702/153, 702/155, 702/167, 702/172, 702/1, 702/20, 356/318, 356/317, 703/2, 342/54, 342/52, 342/450, 342/451, 342/452, 382/181, 382/190, 382/201, 382/203, 382/206, 382/285, 382/286, 382/291, 382/312, 382/313, 382/316, 382/317, 382/318, 382/319, 382/321, 345/419, 345/420, 345/32, 345/39, 345/441, 250/336.1, 250/493.1, 250/559.13, 250/504.H
• US Class Current: 702/159
• CPC Class Codes: G01B 11/002 for measuring two or more coordinates
• CPC Class Codes: G01B 11/24 for measuring contours or curvatures
• CPC Class Codes: G01C 11/00 Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
• CPC Class Codes: G01C 15/002 Active optical surveying means optical plumbing G01C15/105
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 7/4817 relating to scanning
• CPC Class Codes: G01S 7/4818 using optical fibres

Abstract

An integrated system generates a model of a three-dimensional object. A scanning laser device scans the three-dimensional object and generates a point cloud. The points of the point cloud each indicate a location of a corresponding point on a surface of the object. A first model is generated, responsive to the point cloud, that generates a first model representing constituent geometric shapes of the object. A data file is generated, responsive to the first model, that can be inputted to a computer-aided design system.

Claims

1. An integrated system for generating a model of a three-dimensional scene, comprising:

a scanning laser device that scans the three dimensional scene with pulsed laser beam wherein the pulses of light last less than 1 nanosecond with up to 0.2 μ

J in each pulse and measures the time delay, with a resolution of 30 psec or less, between each emitted pulse and a corresponding pulse that is returned from a surface of the scene and wherein said scanning laser device further tracks and measures the angular orientation of the beam during the scan; and

means for generating a point cloud based upon the measured time delays and angle measurements, the point cloud comprising a plurality of data points that each represents a location of a corresponding point on the surface.

2. An apparatus for obtaining position information about surface points of a three dimensional object comprising:

a laser for generating an output beam;

scanning system for moving the laser beam over the object;

monitoring system for automatically measuring the range to the object based on the measurement of the reflection of the laser beam, said monitor system also tracking and measuring the angular position of the laser beam, said monitoring system having a positional accuracy for each point in three dimensional space equal to or better than six millimeters at one standard deviation over a range of up to 100 meters.

3. A system as recited in claim 2 wherein each range measurement can be made in under 0.005 seconds.

4. A system as recited in claim 2 wherein the laser generates a pulsed output and the energy per pulse is less than 0.2 micro joules and the average output power of the laser is no more than 1.0 milliwatts.

5. An apparatus for measuring the distance to an object comprising:

a laser for generating a beam of output pulses;

a monitoring system for measuring the distance to the object based on the reflection of the laser beam, said monitoring system having an accuracy equal to or better than 6 millimeters at one standard deviation over its entire range of up to 100 meters and wherein each measurement can be made in less than 0.005 seconds and wherein the laser has an energy per pulse of no more than 0.2 micro joules and an average power of no more than 1 milliwatt.

6. A system as recited in claim 5 where the object is provided with retro reflectors and where the range of operation is up to one mile.