Method and apparatus for using gestures to control a laser tracker

• US 9,618,602 B2
• Filed: 05/26/2016
• Issued: 04/11/2017
• Est. Priority Date: 05/01/2013
• Status: Active Grant

• Current Assignee: Faro Technologies Incorporated
• Original Assignee: Faro Technologies Incorporated
• Inventors: Bridges, Robert E., Parker, David H., Fletcher, Kelley
• Primary Examiner(s): NGUYEN, SANG H
• Application Number:
  US15/165,068
• Publication Number:
  US 20160266229A1
• Time in Patent Office: 320 Days
• Field of Search: 356614, 356625, 356445, 356 401, 356138, 35613903, 348135, 348169, 2502031
• CPC Class Codes: G01B 11/002 for measuring two or more coordinates
• CPC Class Codes: G01B 11/14 for measuring distance or clearance between spaced objects or spaced apertures G01B11/26 takes precedence; rangefinders G01C3/00
• CPC Class Codes: G01C 15/002 Active optical surveying means optical plumbing G01C15/105
• CPC Class Codes: G01S 17/66 Tracking systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 3/786 the desired condition being maintained automatically
• CPC Class Codes: G06F 3/015 Input arrangements based on nervous system activity detection, e.g. brain waves [EEG] detection, electromyograms [EMG] detection, electrodermal response detection
• CPC Class Codes: G06F 3/017 Gesture based interaction, e.g. based on a set of recognized hand gestures interaction based on gestures traced on a digitiser G06F3/04883
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/20224 Image subtraction
• CPC Class Codes: G06T 2207/30196 Human being; Person
• CPC Class Codes: G06T 7/12 Edge-based segmentation
• CPC Class Codes: G06T 7/174 involving the use of two or more images
• CPC Class Codes: G06T 7/194 involving foreground-background segmentation
• CPC Class Codes: G06T 7/254 involving subtraction of images
• CPC Class Codes: G06T 7/30 Determination of transform parameters for the alignment of images, i.e. image registration
• CPC Class Codes: G06V 40/20 Movements or behaviour, e.g. gesture recognition recognition of facial expressions G06V40/16
• CPC Class Codes: G06V 40/28 Recognition of hand or arm movements, e.g. recognition of deaf sign language static hand signs G06V40/113

Abstract

A method and system are provided for controlling a laser tracker remotely from the laser tracker through gestures performed by a user. The method includes providing a rule of correspondence between each of a plurality of commands and each of a plurality of user gestures. A gesture is performed by the user with the user'"'"'s body that corresponds to one of the plurality of user gestures. The gesture performed by the user is detected. The gesture recognition engine determines a first command from one of the plurality of commands that correspond with the detected gesture. Then the first command is executed with the laser tracker.

Claims

1. A method for a user to control operation of a laser tracker, the method comprising:

providing the laser tracker having a structure rotatable about a first axis and a second axis, a first light source that launches a first light beam from the structure, a distance meter, a first angular encoder that measures a first angle of rotation about the first axis, a second angular encoder that measures a second angle of rotation about the second axis, and a processor;

providing a second light source and a camera, the second light source configured to project a second light beam, the camera configured to acquire an image of the second light beam reflected off of a user;

providing a rule of correspondence between each of a plurality of commands and each of a plurality of gestures, each gesture from among the plurality of gestures corresponding to a body position of the user;

projecting the second light beam from the second light source and acquiring with the camera a first image of the user;

generating a skeletal model of the user from the first image;

performing by the user a first gesture from among the plurality of gestures, the first gesture corresponding to a first body position;

identifying from the skeletal model the performing by the user of the first gesture;

determining a first command based at least in part on the identifying of the first gesture according to the rule of correspondence;

executing the first command with the laser tracker;

performing by the user a second gesture from among the plurality of gestures, the second gesture corresponding to a second body position;

identifying from the skeletal model the performing by the user of the second gesture;

determining the second command based at least in part on the first gesture and the identifying of the second gesture according to the rule of correspondence; and

executing the second command with the laser tracker.

2. The method of claim 1 wherein the second light beam includes a structured light pattern, and the image includes at least a portion of the structured light pattern.

3. The method of claim 1 wherein the generating the skeletal model includes determining three dimensional coordinates of the user'"'"'s body.

4. The method of claim 1 further comprising:

providing a plurality of gesture filters, each gesture filter including information of a gesture performed by the user as interpreted through the skeletal model,

wherein the identifying of the first gesture is based at least in part on one of the plurality of gesture filters.

5. The method of claim 4 wherein each of the plurality of gesture filters include a plurality of inputs and a plurality of outputs.

6. The method of claim 5 wherein the plurality of inputs includes at least one of joint data, RGB color data and a rate of change of an aspect of the user.

7. The method of claim 5 wherein the plurality of outputs includes at least one of confidence level and a speed of motion of the gesture.

8. The method of claim 1 wherein the first command is to acquire a retroreflector.

9. The method of claim 1 wherein the first body position includes a pointing of a finger by the user at an object.

10. A method for a user to control operation of a laser tracker, the method comprising:

providing the laser tracker having a structure rotatable about a first axis and a second axis, a first light source that launches a first light beam from the structure, a distance meter, a first angular encoder that measures a first angle of rotation about the first axis, a second angular encoder that measures a second angle of rotation about the second axis, and a processor;

providing a second light source and a camera, the second light source configured to project a second light beam, the camera configured to acquire an image of the second light beam reflected off of a user;

providing a rule of correspondence between each of a plurality of commands and each of a plurality of gestures, each gesture from among the plurality of gestures corresponding to a body position of the user;

projecting the second light beam from the second light source and acquiring with the camera a first image of the user;

generating a skeletal model of the user from the first image;

performing by the user a first gesture from among the plurality of gestures, the first gesture corresponding to a first body position;

identifying from the skeletal model the performing by the user of the first gesture;

determining a first command based at least in part on the identifying of the first gesture according to the rule of correspondence, wherein the first command is to acquire a retroreflector;

executing the first command with the laser tracker;

acquiring a second image with the camera;

identifying an area containing the retroreflector; and

rotating the laser tracker about at least one of the first axis and second axis to acquire the retroreflector based at least in part on the identifying of the area.

11. A method for a user to control operation of a laser tracker, the method comprising:

providing the laser tracker having a structure rotatable about a first axis and a second axis, a first light source that launches a first light beam from the structure, a distance meter, a first angular encoder that measures a first angle of rotation about the first axis, a second angular encoder that measures a second angle of rotation about the second axis, and a processor;

providing a second light source and a camera, the second light source configured to project a second light beam, the camera configured to acquire an image of the second light beam reflected off of a user;

providing a rule of correspondence between each of a plurality of commands and each of a plurality of gestures, each gesture from among the plurality of gestures corresponding to a body position of the user;

projecting the second light beam from the second light source and acquiring with the camera a first image of the user;

generating a skeletal model of the user from the first image;

performing by the user a first gesture from among the plurality of gestures, the first gesture corresponding to a first body position;

identifying from the skeletal model the performing by the user of the first gesture;

determining a first command based at least in part on the identifying of the first gesture according to the rule of correspondence, wherein the first command is to acquire a retroreflector;

executing the first command with the laser tracker; and

performing with the laser tracker a spiral search pattern to acquire the retroreflector.

12. A method for a user to control operation of a laser tracker, the method comprising:

providing the laser tracker having a structure rotatable about a first axis and a second axis, a first light source that launches a first light beam from the structure, a distance meter, a first angular encoder that measures a first angle of rotation about the first axis, a second angular encoder that measures a second angle of rotation about the second axis, and a processor;

providing a second light source and a camera, the second light source configured to project a second light beam, the camera configured to acquire an image of the second light beam reflected off of a user;

providing a rule of correspondence between each of a plurality of commands and each of a plurality of gestures, each gesture from among the plurality of gestures corresponding to a body position of the user;

projecting the second light beam from the second light source and acquiring with the camera a first image of the user;

generating a skeletal model of the user from the first image;

performing by the user a first gesture from among the plurality of gestures, the first gesture corresponding to a first body position, wherein the first body position includes a pointing of a finger by the user at an object;

identifying from the skeletal model the performing by the user of the first gesture;

determining a first command based at least in part on the identifying of the first gesture according to the rule of correspondence;

executing the first command with the laser tracker;

identifying based at least in part on the skeletal model the object in the first image the user is pointing at; and

rotating the laser tracker about the first axis and second axis to project the first light beam toward the object.

13. The method of claim 12 wherein the object is a first retroreflector.

14. The method of claim 13 further comprising a plurality of retro reflectors, wherein the plurality of retroreflectors includes the first retroreflector.

15. The method of claim 12 further comprising:

identifying based at least in part on the skeletal model a point on the object the user is pointing at; and

determining three-dimensional coordinates of the point.

16. A method for a user to control operation of a laser tracker, the method comprising:

providing the laser tracker having a structure rotatable about a first axis and a second axis, a first light source that launches a first light beam from the structure, a distance meter, a first angular encoder that measures a first angle of rotation about the first axis, a second angular encoder that measures a second angle of rotation about the second axis, and a processor;

providing a second light source and a camera, the second light source configured to project a second light beam, the camera configured to acquire an image of the second light beam reflected off of a user;

providing a rule of correspondence between each of a plurality of commands and each of a plurality of gestures, each gesture from among the plurality of gestures corresponding to a body position of the user;

projecting the second light beam from the second light source and acquiring with the camera a first image of the user;

generating a skeletal model of the user from the first image;

performing by the user a first gesture from among the plurality of gestures, the first gesture corresponding to a first body position;

identifying from the skeletal model the performing by the user of the first gesture;

determining a first command based at least in part on the identifying of the first gesture according to the rule of correspondence;

executing the first command with the laser tracker;

determining that the user is in the first image;

acquiring with the camera a second image;

aligning the second image with the first image; and

identifying foreground shapes.

17. The method of claim 16 wherein at least one of the foreground shapes is the user.

18. The method of claim 17 further comprising subtracting the first image from the second image to identify foreground shapes.

19. The method of claim 17 further comprising tracking a movement of the user from the first image to the second image.