3D scene scanner and a position and orientation system

• US 8,625,854 B2
• Filed: 09/08/2006
• Issued: 01/07/2014
• Est. Priority Date: 09/09/2005
• Status: Active Grant

• Current Assignee: Callaghan Innovation
• Original Assignee: Industrial Research Limited
• Inventors: Valkenburg, Robert Jan, Penman, David William, Schoonees, Johann August, Alwesh, Nawar Sami, Palmer, George Terry
• Primary Examiner(s): Bitar, Nancy
• Application Number:
  US12/066,108
• Publication Number:
  US 20090323121A1
• Time in Patent Office: 2,678 Days
• Field of Search: None
• US Class Current: 382/106
• CPC Class Codes: G01B 11/002 for measuring two or more coordinates
• CPC Class Codes: G01B 11/303 using photoelectric detection means
• CPC Class Codes: G01C 15/002 Active optical surveying means optical plumbing G01C15/105
• CPC Class Codes: G01S 17/87 Combinations of systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/875 for determining attitude
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G06T 1/0007 Image acquisition
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: H04N 13/254 in combination with electromagnetic radiation sources for illuminating objects
• CPC Class Codes: H04N 13/282 for generating image signals corresponding to three or more geometrical viewpoints, e.g. multi-view systems

Abstract

A hand-held mobile 3D scanner (10) for scanning a scene. The scanner (10) comprises a range sensor (11) that is arranged to sense the location of surface points in the scene relative to the scanner (10) and generate representative location information, a texture sensor (12) that is arranged to sense the texture of each surface point in the scan of the scene and generate representative texture information, and a position and orientation sensor (13) that is arranged to sense the position and orientation of the scanner (10) during the scan of the scene and generate representative position and orientation information. A control system (14) is also provided that is arranged to receive the information from each of the sensors and generate data representing the scan of the scene.

Claims

1. A position and orientation system for sensing the position and orientation of a mobile object that is moveable in an environment comprising:

a control system;

multiple reference targets located in random positions within the environment to define a local reference frame, the positions of the reference targets being unknown to the control system at start-up of the control system;

an optical tracking device mounted to the mobile object comprising one or more direction sensors that are arranged to detect visible reference targets and generate direction information relating to the direction of the visible reference targets relative to the optical tracking device, the direction information being continuously updated as the mobile object moves within the environment; and

wherein the control system is arranged to operate the optical tracking device, receive the direction information, and process the direction information to;

initially auto-calibrate at start-up to determine the 3D positions of the reference targets relative to each other within the local reference frame; and

then subsequently generate updated position and orientation information relating to the current position and orientation of the mobile object in the local reference frame during movement of the mobile object based on the continuously updated direction information and the determined 3D positions of the reference targets at start-up.

2. A position and orientation system according to claim 1 wherein the direction sensors of the optical tracking device are optical sensors that are each arranged to view outwardly relative to the scanner to provide direction information relating to any visible reference targets.

3. A position and orientation system according to claim 2 wherein the optical sensors comprise an arrangement of cameras that view outwardly relative to the mobile object to provide direction information relating to any visible reference targets.

4. A position and orientation system according to claim 1 wherein the one or more direction sensors of the optical tracking device are arranged to form an omnidirectional direction sensor.

5. A position and orientation system according to claim 1 wherein the reference targets each comprise a switchable light source that is arranged to emit light for sensing by the direction sensors of the optical tracking device.

6. A position and orientation system according to claim 1 wherein the control system is arranged to periodically auto-calibrate during operation to register the movement, removal, and addition of reference targets to the environment.

7. A position and orientation system according to claim 1 wherein the control system is arranged to provide the user with feedback on the quality of the distribution of the reference targets within the environment after auto-calibration has taken place, the distribution of the reference targets affecting the accuracy of the position and orientation information generated.

8. A position and orientation system according to claim 1 wherein the control system comprises a user interface that is operable by a user to control the system and an associated output display for presenting the position and orientation information.

9. A position and orientation system according to claim 1 further comprising an inertial sensor that is arranged to sense the position and orientation of the mobile object and provide representative position and orientation information if the optical tracking device experiences target dropout.

10. A method of sensing the position and orientation of a mobile object that is moveable in an environment comprising the steps of:

placing multiple reference targets at random positions within the environment to define a local reference frame;

mounting an optical tracking device to the mobile object, the optical tracking device comprising one or more direction sensors that are arranged to detect visible reference targets and generate direction information relating to the direction of the visible reference targets relative to the optical tracking device;

operating the optical tracking device to track and sense visible reference targets as it moves with the mobile object in the environment and generate continuously updated direction information; and

processing the direction information to;

initially determine the 3D positions of the reference targets relative to each other within the local reference frame by auto-calibrating; and

then subsequently generate updated position and orientation information relating to the current position and orientation of the mobile object in the local reference frame during movement of the mobile object based on the continuously updated direction information and the determined 3D positions of the reference targets.

11. A method of sensing the position and orientation of a mobile object according to claim 10 wherein the step of auto-calibrating comprises:

moving the mobile object into N locations in the environment and sensing direction information for visible reference targets at each location;

calculating initial estimates of the position and orientation of the mobile object at the N locations;

calculating accurate estimates of the position and orientation of the mobile object; and

reconstructing the reference target 3D positions by triangulation using the direction information and the accurate estimates of the position and orientation of the mobile object.

12. A method of sensing the position and orientation of a mobile object according to claim 11 wherein the step of calculating initial estimates comprises executing a closed form algorithm.

13. A method of sensing the position and orientation of a mobile object according to claim 11 wherein the step of calculating accurate estimates comprises executing a non-linear minimisation algorithm.

14. A method of sensing the position and orientation of a mobile object according to claim 10 wherein the step of auto-calibrating occurs periodically to register the movement, removal, and addition of reference targets.

15. A method of sensing the position and orientation of a mobile object according to claim 10 further comprising the step of feeding back information on the quality of the distribution of the reference targets within the environment after the auto-calibration step has taken place, the distribution of the reference targets affecting the accuracy of the position and orientation information generated.

16. A method of sensing the position and orientation of a mobile object according to claim 10 wherein the step of processing the direction information to generate updated position and orientation information comprises:

calculating an initial estimate of the position and orientation of the mobile object using a boot-strapping process;

predicting the current position and orientation of the mobile object based on previous position and orientation estimate;

associating the sensed direction information with specific individual reference target 3D positions; and

updating the current position and orientation prediction using the individual reference target 3D positions and direction information.

17. A method of sensing the position and orientation of a mobile object according to claim 16 wherein the step of predicting the current position and orientation of the mobile object comprises extrapolating from the previous position and orientation estimate.

18. A method of sensing the position and orientation of a mobile object according to claim 16 wherein the step of updating the current position and orientation predication comprising executing a non-linear algorithm.

19. A method of sensing the position and orientation of a mobile object according to claim 10 further comprising mounting an inertial sensor to the mobile object and operating the inertial sensor to sense the position and orientation of the mobile object and generate representative position and orientation information if the optical tracking device experiences target dropout.