Device and method for indoor mobile mapping of an environment

• US 10,726,566 B2
• Filed: 05/17/2019
• Issued: 07/28/2020
• Est. Priority Date: 09/26/2016
• Status: Active Grant

• Current Assignee: Faro Technologies Incorporated
• Original Assignee: Faro Technologies Incorporated
• Inventors: Wohlfeld, Denis
• Primary Examiner(s): Wendmagegn, Girumsew
• Application Number:
  US16/414,909
• Publication Number:
  US 20190304109A1
• Time in Patent Office: 438 Days
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/48 Active triangulation systems, i.e. using the transmission and reflection of 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 17/87 Combinations of systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 7/4812 transmitted and received beams following a coaxial path
• CPC Class Codes: G01S 7/4813 Housing arrangements
• CPC Class Codes: G01S 7/4817 relating to scanning
• CPC Class Codes: G01S 7/497 Means for monitoring or calibrating
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/10024 Color image
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 2207/10048 Infrared image
• CPC Class Codes: G06T 2207/10152 Varying illumination
• CPC Class Codes: G06T 2207/30244 Camera pose
• CPC Class Codes: G06T 7/344 involving models
• CPC Class Codes: G06T 7/521 from laser ranging, e.g. using interferometry; from the projection of structured light
• CPC Class Codes: G06T 7/55 from multiple images
• CPC Class Codes: G06T 7/579 from motion
• CPC Class Codes: G06T 7/70 : Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06T 7/73 : using feature-based methods
• CPC Class Codes: H04N 13/25 : using two or more image sensors with different characteristics other than in their location or field of view, e.g. having different resolutions or colour pickup characteristics; using image signals from one sensor to control the characteristics of another sensor
• CPC Class Codes: H04N 13/254 : in combination with electromagnetic radiation sources for illuminating objects

Abstract

A method and system for scanning and measuring an environment is provided. The method includes providing a first three-dimensional (3D) measurement device. The 3D measurement device being operable in a helical mode or a compound mode, wherein a plurality of light beams are emitted along a first path defined by a first axis and a second axis in the compound mode and along a second path defined by the first axis in the helical mode. A mobile platform holding the 3D measurement device is moved from a first position. A first group of 3D coordinates of the area is acquired by the 3D measurement device when the mobile platform is moving. A second group of 3D coordinates of the area is acquired with a second 3D measurement device that with six-degrees of freedom (6DOF). The first group of 3D coordinates is registered based on the third group of 3D coordinates.

Claims

1. A system for optically scanning and measuring an area of an environment comprising:

a first 3D measurement device being operable to determine a distance to a surface in the area based at least in part on the speed of light, the 3D measurement device being operable in a helical mode and a compound mode, wherein the plurality of light beams are emitted within a plane in helical mode and within a volume in compound mode;

a second 3D measurement device operably coupled in a fixed relationship to the first 3D measurement device, the second 3D measurement device being operable to determine a position of the second 3D measurement device with six-degrees of freedom (6DOF) based on one or more points on the surface in the area;

a memory having non-transitory computer readable instructions; and

one or more processors for executing the computer readable instructions, the one or more processors being operably coupled to the first 3D measurement device and the second 3D measurement device, the computer readable instructions comprising;

acquiring a first group of 3D coordinates of the area with the first 3D measurement device operating in one of the helical mode or the compound mode;

acquiring a second group of 3D coordinates of the area with the second 3D measurement device; and

registering the first group of 3D coordinates based at least in part the second group of 3D coordinates.

2. The system of claim 1, wherein the computer readable instructions further comprise:

operating the first 3D measurement device in the compound mode when the first 3D measurement device is stationary; and

operating the first 3D measurement device in helical mode when the first 3D measurement device is moving.

3. The system of claim 1, wherein the computer readable instructions further comprise removing at least one point from the first group of 3D coordinates.

4. The system of claim 1, wherein the computer readable instructions further comprise defining a window within the plane or volume, and ignoring data in the first group of 3D coordinate acquired within the window.

5. The system of claim 1, wherein the computer readable instructions further comprise determining a predetermined period of time has elapsed, and

correcting for drift in the first group of 3D coordinates using a loop-closure when the predetermined period of time has elapsed.

6. The system of claim 1, further comprising a mobile platform configured to move over a floor in the area, wherein the plane is on an angle relative to the floor, and at least a portion of the plane intersects the floor in front of the first 3D measurement device.

7. A system of for optically scanning and measuring an area of an environment comprising:

a first 3D measurement device being operable to determine a distance to a surface in the area based at least in part on the speed of light, the 3D measurement device being operable in a helical mode and a compound mode, wherein the plurality of light beams are emitted within a plane in helical mode and within a volume in compound mode;

a second 3D measurement device operably coupled in a fixed relationship to the first 3D measurement device, the second 3D measurement device being operable to determine a position of the second 3D measurement device with six-degrees of freedom (6DOF) based on one or more points on the surface in the area;

a memory having non-transitory computer readable instructions; and

one or more processors for executing the computer readable instructions, the one or more processors being operably coupled to the first 3D measurement device and the second 3D measurement device, the computer readable instructions comprising;

acquiring a first group of 3D coordinates of the area with the first 3D measurement device operating in one of the helical mode or the compound mode;

acquiring a second group of 3D coordinates of the area with the second 3D measurement device;

registering the first group of 3D coordinates based at least in part the second group of 3D coordinates;

wherein the second 3D measurement device comprises;

a plurality of RGB cameras, each of the plurality of RGB cameras having a first field of view;

a plurality of infrared cameras, each of the plurality of infrared cameras having a second field of view;

a plurality of projectors, each of the plurality of projectors being configured to emit infrared light.

8. The system of claim 7, wherein each of the first field of view for each of the plurality of RGB cameras overlaps with at least one of the other first field of view, and each second field of view for each of the plurality of infrared cameras overlaps with at least one other second field of view.

9. The system of claim 8, wherein first field of view for each of the plurality of RGD cameras define a composite field of view that is greater than 180 degrees.

10. The system of claim 7, wherein the plurality of projectors project a pattern of light onto the surface.

11. A system for optically scanning and measuring an area of an environment comprising:

a first 3D measurement device that is movable from a first position to a second position, the 3D measurement device being operable in a helical mode and a compound mode, wherein a plurality of light beams are emitted along a first path defined by a first axis and a second axis in the compound mode and along a second path defined by the first axis in the helical mode;

a second 3D measurement device coupled to the first 3D measurement device, the second 3D measurement device being operable to determine a 3D coordinate with six-degrees of freedom (6DOF) of at least one point on the surface in the area;

a memory having non-transitory computer readable instructions; and

one or more processors for executing the computer readable instructions, the one or more processors being operably coupled to the first 3D measurement device and the second 3D measurement device, the computer readable instructions comprising;

acquiring a first group of 3D coordinates of the area with the first 3D measurement device operating in one of the helical mode or the compound mode based on movement from the first position to the second position;

acquiring a second group of 3D coordinates of the area with the second 3D measurement device based at least in part on the movement from the first position to the second position; and

registering the first group of 3D coordinates based at least in part the second group of 3D coordinates.

12. The system of claim 11, wherein the computer readable instructions further comprise:

operating the first 3D measurement device in the compound mode when the first 3D measurement device is stationary; and

operating the first 3D measurement device in helical mode when the first 3D measurement device is moving.

13. The system of claim 11, wherein the second 3D measurement device comprises:

a plurality of RGB cameras, each of the plurality of RGB cameras having a first field of view;

a plurality of infrared cameras, each of the plurality of infrared cameras having a second field of view;

a plurality of projectors, each of the plurality of projectors being configured to emit infrared light.

14. The system of claim 13, wherein each of the first field of view for each of the plurality of RGB cameras overlaps with at least one of the other first field of view, and each second field of view for each of the plurality of infrared cameras overlaps with at least one other second field of view.

15. The system of claim 11, wherein the first 3D measurement device is a laser scanner and the second 3D measurement device is a 3D imager.

16. The system of claim 15, wherein the first 3D measurement device is a time of flight scanner.

17. The system of claim 11, wherein the computer readable instructions further comprise removing at least one point from the first group of 3D coordinates.

18. The system of claim 11, wherein the computer readable instructions further comprise defining a window within the plane or volume, and ignoring data in the first group of 3D coordinate acquired within the window.

19. The system of claim 11, wherein the computer readable instructions further comprise determining a predetermined period of time has elapsed, and correcting for drift in the first group of 3D coordinates using a loop-closure when the predetermined period of time has elapsed.

20. The system of claim 11, further comprising a mobile platform configured to move over a floor in the area, wherein the plane is on an angle relative to the floor, and at least a portion of the plane intersects the floor in front of the first 3D measurement device.