Method and apparatus for specifying and displaying measurements within a 3D rangefinder data set

• US 7,777,761 B2
• Filed: 02/09/2006
• Issued: 08/17/2010
• Est. Priority Date: 02/11/2005
• Status: Active Grant

• Current Assignee: Uatc, LLC (Uber Technologies, Inc.)
• Original Assignee: DeltaSphere, Inc.
• Inventors: England, James N., Helser, Aron T., Elgin, Benjamin C., Holloway, Richard L.
• Primary Examiner(s): Pappas, Peter-Anthony
• Application Number:
  US11/351,234
• Publication Number:
  US 20060181527A1
• Time in Patent Office: 1,650 Days
• Field of Search: None
• US Class Current: 345/619
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 7/4817 relating to scanning

Abstract

A method, computer program product, and apparatus for specifying, making, and displaying measurements within a 3D range data set obtained using a 3D rangefinder device. A 3D range data set is provided and represented as a first 2D displayed image and a second displayed image. The second displayed image is selected from the group consisting of a second 2D displayed image and a 3D displayed image. At least one feature is identified in the first 2D displayed image and the second displayed image, such that a measurement can be computed based on the identified features. The computed measurement is displayed in at least one of the first 2D displayed image and the second displayed image.

Claims

1. A method for making measurements within a 3D range data set obtained using a 3D rangefinder device, comprising:

providing a 3D range data set obtained using a 3D rangefinder device;

displaying the 3D range data set as a first image on a display device, wherein the first image comprises one of a 2D image that is generated from the 3D range data set or a 2D image that is registered to the 3D range data set, wherein the 2D image is registered to the 3D data set by;

identifying corresponding features in the 2D image and the 3D range data set, computing the location and orientation of the device used to capture the 2D image, using the location and orientation of the device used to capture the 2D image to compute the optical path from the device used to capture the 2D image into the 3D data set, and applying the value from each pixel of the 2D image to a corresponding point or points of the 3D data set;

displaying the 3D range data set as a second image on the display device, wherein the second image comprises one of a 3D image, a 2D image that is generated from the 3D range data set, or a 2D image that is registered to the 3D range data set;

identifying, within the first image, at least a first feature within the 3D range data set;

identifying, within the second image, at least a second feature within the 3D range data set, different from the first feature within the 3D range data set;

computing a measurement utilizing the 3D range data set and based on at least the first feature and the second feature; and

displaying the computed measurement within at least one of the first image and the second image.

2. The method of claim 1 wherein the computed measurement is displayed in one of the first 2D displayed image only and the second displayed image only.

3. The method of claim 1, where displaying the computed measurement includes displaying at least one of:

a measurement point, a plurality of measurement points, a measurement line, a plurality of measurement lines, a measurement surface, a plurality of measurement surfaces, a measurement volume, values, a plurality of values, a plurality of measurement volumes, a measurement feature, and a plurality of measurement features.

4. The method of claim 1, wherein displaying the computed measurement comprises displaying the computed measurement in at least one of the first 2D displayed image, the second displayed image, and a third displayed image.

5. The method of claim 1, wherein the 3D range data set is provided by a 3D rangefinder device comprising at least one of:

a scanning laser rangefinder using time of flight range measurement principles, a scanning laser rangefinder using phase comparison range measurement principles, a scanning laser rangefinder using any other range measurement principles, an imaging laser rangefinder range camera using time of flight range measurement principles, an imaging laser rangefinder range camera using phase comparison range measurement principles, an imaging laser rangefinder range camera using any other range measurement principles, a triangulation rangefinder, a stereo image rangefinder, a multiple image rangefinder, any other device that acquires a multiplicity of range data points simultaneously, and any other device that acquires a multiplicity of range data points over a period of time and combinations of the above.

6. The method of claim 1, wherein at least one of the first 2D displayed image and the second displayed image comprises a 2D image, wherein the 2D image comprises one of:

a 2D range image comprising range values from the 3D rangefinder device converted to monochrome, a 2D range image comprising range values from the 3D rangefinder device converted to false color, a 2D reflectance image comprising intensity values of a rangefinding signal reflected from a physical surface and thereafter received by the 3D rangefinder device converted to monochrome, a 2D reflectance image comprising intensity values of a rangefinding signal reflected from a physical surface and thereafter received by the 3D rangefinder device converted to false color, a 2D registered color image comprising a color camera image previously registered with 3D range data, a 2D registered color image wherein the image is acquired from the same perspective as the 3D range data set, a 2D registered color image wherein the image is acquired from a different perspective than the 3D range data set, a 2D registered color image wherein the image is acquired with the same resolution as the 3D range data set, a 2D registered color image wherein the image is acquired with different resolution from the 3D range data set, a 2D image displayed in spherical projection format, a 2D image displayed in any other 3D-to-2D projection format, and a 2D registered monochrome image comprising a monochrome camera image previously registered with 3D range data.

7. The method of claim 1, wherein the second displayed image comprises a 3D image, wherein the 3D image comprises one of:

a 3D point display, a 3D point display in orthogonal projection, a 3D point display in perspective projection, a 3D polygonal mesh display, a 3D polygonal mesh display in orthogonal projection, a 3D polygonal mesh display in perspective projection, a 3D surface geometry display, a 3D surface geometry display in orthogonal projection, and a 3D surface geometry display in perspective projection.

8. The method of claim 1, wherein computing a measurement utilizing the 3D range data set and based on at least the first feature and the second feature comprises automatically orienting a measurement perpendicularly from a specified surface.

9. The method of claim 1, wherein identifying at least one of the first feature and the second feature comprises at least one of:

using a computer cursor controlled by a mouse to identify, using a computer cursor controlled by a pointing stick to identify, using a computer cursor controlled by a joystick to identify, using a computer cursor controlled by a touch pad to identify, and using software to identify.

10. The method of claim 1, wherein at least part of identifying a feature is performed automatically including at least one of:

automatically placing a feature restricted to a specified surface, automatically placing a feature in the center of a circular feature, and automatically using combinations of the preceding to identify.

11. The method of claim 1, wherein identifying corresponding features comprises at least one of:

using sub-pixel interpolation in any displayed image wherein a software tool may allow the user to estimate and specify the location of a feature anywhere within a pixel and not just at its origin;

using interpolation between measured 3D range data points on surfaces in any 3D displayed image wherein a software tool may allow the user to estimate and specify the location of a feature anywhere upon a surface even if that particular location is not directly associated with a measured 3D range data point;

using estimates of the centers of features wherein the user may estimate and specify the location of the center of a feature even if the particular pixel at that chosen center appears no different from adjacent pixels; and

using holes and data interpolated across holes wherein the rangefinder device did not acquire a range measurement and wherein a software tool may allow the user to estimate and specify the location of a feature anywhere within a hole even though that particular location is not directly associated with a measured 3D range data point.

12. A computer program product comprising computer executable instructions stored in non-transitory computer readable media for execution in at least one processor for making measurements within a 3D range data set obtained using a 3D rangefinder device, the computer executable instructions, when executed by the processor, performing steps comprising:

providing a first 3D range data set obtained using a 3D rangefinder device to the at least one processor;

displaying the 3D range data set as a first image on a display device, wherein the first image comprises one of a 2D image that is generated from the 3D range data set or a 2D image that is registered to the 3D range data set, wherein the 2D image is registered to the 3D data set by identifying corresponding features in the 2D image and the 3D range data set, computing the location and orientation of the device used to capture the 2D image, using the location and orientation of the device used to capture the 2D image to compute the optical path from the device used to capture the 2D image into the 3D data set, and applying the value from each pixel of the 2D image to corresponding points of the 3D data set;

displaying the 3D range data set as a second image on the display device, wherein the second image comprises one of a 3D displayed image, a 2D image that is generated from the 3D range data set, or a 2D image that is registered to the 3D range data set;

identifying, within the first image, at least a first feature within the 3D range data set;

identifying, within the second image, at least a second feature within the 3D range data set, different from the first feature within the 3D range data set;

computing a measurement utilizing the 3D range data set and based on at least the first feature and the second feature; and

displaying the computed measurement within at least one of the first image and the second image.

13. The computer readable medium of claim 12, wherein the displayed computed measurement is displayed in at least one of the first 2D displayed image, the second displayed image, and a third displayed image.

14. The computer readable medium of claim 12, wherein the 3D range data set is provided by a 3D rangefinder device comprising at least one of:

a scanning laser rangefinder using time of flight range measurement principles, a scanning laser rangefinder using phase comparison range measurement principles, a scanning laser rangefinder using any other range measurement principles, an imaging laser rangefinder range camera using time of flight range measurement principles, an imaging laser rangefinder range camera using phase comparison range measurement principles, an imaging laser rangefinder range camera using any other range measurement principles, a triangulation rangefinder, a stereo image rangefinder, a multiple image rangefinder, any other device that acquires a multiplicity of range data points simultaneously, and any other device that acquires a multiplicity of range data points over a period of time and combinations of the above.

15. The computer readable medium of claim 12, wherein at least one of the first 2D displayed image and the second displayed image comprises a 2D image, wherein the 2D image comprises one of:

a 2D range image comprising range values from the 3D rangefinder device converted to monochrome, a 2D range image comprising range values from the 3D rangefinder device converted to false color, a 2D reflectance image comprising intensity values of a rangefinding signal reflected from a physical surface and thereafter received by the 3D rangefinder device converted to monochrome, a 2D reflectance image comprising intensity values of a rangefinding signal reflected from a physical surface and thereafter received by the 3D rangefinder device converted to false color, a 2D registered color image comprising a color camera image previously registered with 3D range data, a 2D registered color image wherein the image is acquired from the same perspective as the 3D range data set, a 2D registered color image wherein the image is acquired from a different perspective than the 3D range data set, a 2D registered color image wherein the image is acquired with the same resolution as the 3D range data set, a 2D registered color image wherein the image is acquired with different resolution from the 3D range data set, a 2D image displayed in spherical projection format, a 2D image displayed in any other 3D-to-2D projection format, and a 2D registered monochrome image comprising a monochrome camera image previously registered with 3D range data.

16. An apparatus for making measurements within a 3D range data set obtained using a 3D rangefinder device, comprising:

at least one computer processor;

a computer program product comprising computer readable medium having stored thereon computer-executable instructions that, when executing within the at least one computer processor, perform steps comprising;

providing a first 3D range data set obtained using a 3D rangefinder device to the at least one processor;

displaying the 3D range data set as a first image on a display device, wherein the first image comprises one of a 2D image that is generated from the 3D range data set or a 2D image that is registered to the 3D range data set, wherein the 2D image is registered to the 3D data set by identifying corresponding features in the 2D image and the 3D range data set, computing the location and orientation of the device used to capture the 2D image, using the location and orientation of the device used to capture the 2D image to compute the optical path from the device used to capture the 2D image into the 3D data set, and applying the value from each pixel of the 2D image to corresponding points of the 3D data set;

displaying the 3D range data set as a second image on the display device, wherein the second displayed image comprises one of a 3D displayed image, a 2D image that is generated from the 3D range data set, or a 2D image that is registered to the 3D range data set;

identifying, within the first image, at least a first feature within the 3D range data set;

identifying, within the second image, at least a second feature within the 3D range data set, different from the first feature within the 3D range data set;

computing a measurement utilizing the 3D range data set and based on at least the first feature and the second feature; and

displaying the computed measurement within at least one of the first image and the second image.

17. The apparatus of claim 16, wherein the displayed computed measurement is displayed in at least one of the first 2D displayed image, the second displayed image, and a third displayed image.

18. The apparatus of claim 16, wherein the 3D range data set is provided by a 3D rangefinder device comprising at least one of:

a scanning laser rangefinder using time of flight range measurement principles, a scanning laser rangefinder using phase comparison range measurement principles, a scanning laser rangefinder using any other range measurement principles, an imaging laser rangefinder range camera using time of flight range measurement principles, an imaging laser rangefinder range camera using phase comparison range measurement principles, an imaging laser rangefinder range camera using any other range measurement principles, a triangulation rangefinder, a stereo image rangefinder, a multiple image rangefinder, any other device that acquires a multiplicity of range data points simultaneously, and any other device that acquires a multiplicity of range data points over a period of time and combinations of the above.

19. The apparatus of claim 16, wherein at least one of the first 2D displayed image and the second displayed image comprises a 2D image, wherein the 2D image comprises one of:

a 2D range image comprising range values from the 3D rangefinder device converted to monochrome, a 2D range image comprising range values from the 3D rangefinder device converted to false color, a 2D reflectance image comprising intensity values of a rangefinding signal reflected from a physical surface and thereafter received by the 3D rangefinder device converted to monochrome, a 2D reflectance image comprising intensity values of a rangefinding signal reflected from a physical surface and thereafter received by the 3D rangefinder device converted to false color, a 2D registered color image comprising a color camera image previously registered with 3D range data, a 2D registered color image wherein the image is acquired from the same perspective as the 3D range data set, a 2D registered color image wherein the image is acquired from a different perspective than the 3D range data set, a 2D registered color image wherein the image is acquired with the same resolution as the 3D range data set, a 2D registered color image wherein the image is acquired with different resolution from the 3D range data set, a 2D image displayed in spherical projection format, a 2D image displayed in any other 3D-to-2D projection format, and a 2D registered monochrome image comprising a monochrome camera image previously registered with 3D range data.