Method and apparatus for localizing and mapping the position of a set of points on a digital model

• US 7,627,447 B2
• Filed: 01/23/2007
• Issued: 12/01/2009
• Est. Priority Date: 01/23/2007
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Freeman, Philip L., Riegel, Christopher G., Marsh, Joseph C.
• Primary Examiner(s): Lau; Tung S
• Assistant Examiner(s): SUN, XIUQIN
• Application Number:
  US11/626,168
• Publication Number:
  US 20080177411A1
• Time in Patent Office: 1,043 Days
• Field of Search: 702/141, 714/33
• US Class Current: 702/141
• CPC Class Codes: G06T 2207/30164 Workpiece; Machine component
• CPC Class Codes: G06T 7/0006 using a design-rule based approach
• CPC Class Codes: G06T 7/75 involving models

Abstract

A computer implemented method, apparatus and computer usable program product for mapping a position of a physical point on a digital model. Sensor data for the physical point is received from a sensor unit and a position of the physical point is correlated to the digital model. An alignment probability for the correlated position is calculated and the calculated value is then compared to a stored threshold value. If the alignment probability for the correlated position does exceed a predetermined threshold probability, an aligned position is formed. An aligned position of the physical point is stored relative to the digital model, responsive to a store map location command.

Claims

1. A method for mapping a set of physical points to a digital model, the method comprising:

receiving sensor data for the set of physical points from a sensor unit to form received sensor data;

aligning the received sensor data from the sensor unit to a set of place-identifiers in the digital model, wherein a position of the set of physical points is correlated to the digital model to form a correlated position; and

storing the correlated position in a storage, wherein if an alignment probability for the correlated position exceeds a predetermined threshold probability, an aligned position is formed, and wherein if the alignment probability for the correlated position does not exceed the predetermined threshold probability an unaligned position is formed.

2. The method of claim 1 wherein, responsive to a store map location command, storing the aligned position of the set of physical points relative to the digital model.

3. The method of claim 1 further comprising:

providing a simultaneous localization and mapping module for tracking a location of the set of physical points.

4. The method of claim 1, wherein the received sensor data comprises data from one or more of a laser triangulation system, an acoustical localizer, an accelerometer, or a set of video cameras of the sensor unit.

5. The method of claim 4, further comprising:

displaying the digital model on an interactive display of the sensor unit.

6. The method of claim 1, wherein the sensor unit is a compact device unit, in communication with a fixed data processing system.

7. The method of claim 1, further comprising:

orienting the sensor unit using a laser pointer on the sensor unit.

8. The method of claim 1, wherein the sensor unit is one of remotely controlled or autonomously controlled.

9. The method of claim 1, wherein the physical points are physical points of a physical object, and wherein the digital model comprises a multi-dimensional description of the physical object.

10. The method of claim 9, wherein the multi-dimensional description of the physical object is a three-dimensional description of the physical object.