Using two-dimensional camera images to speed registration of three-dimensional scans
First Claim
1. A three-dimensional (3D) measuring device comprising:
- one or more processors;
a movable 3D scanner operably coupled to the one or more processors and operable to determine 3D coordinates of a first object point;
a camera operably coupled to move in conjunction with the 3D scanner;
wherein the one or more processors are responsive to executable instructions which when executed by the one or more processors cause the one or more processors to perform a method comprising;
determining 3D coordinates of a first collection of points on an object surface with the 3D Scanner from a first fixed position;
obtaining with the 3D scanner a plurality of 2D camera image sets as the 3D scanner is moved from the first fixed position to a second position;
determining a first translation value in a first translation direction, a second translation value in to a second translation direction, and a first rotation value about a first orientational axis, wherein the first translation value, the second translation value, and the first rotation value are based at least in part on the plurality of 2D camera image sets;
determining 3D coordinates of a second collection of points on an object surface with the 3D Scanner from the second position;
identifying a correspondence among registration targets in both the first collection of points and the second collection of points, the correspondence based at least in part on the first translation value, the second translation value, and the first rotation value; and
determining 3D coordinates of a registered 3D collection of points based at least in part on the determined correspondence among the registration targets, the 3D coordinates of the first collection of points, and the 3D coordinates of the second collection of points.
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Accused Products
Abstract
A method and system for scanning and measuring an environment is provided. The method includes providing a 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.
808 Citations
17 Claims
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1. A three-dimensional (3D) measuring device comprising:
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one or more processors; a movable 3D scanner operably coupled to the one or more processors and operable to determine 3D coordinates of a first object point; a camera operably coupled to move in conjunction with the 3D scanner; wherein the one or more processors are responsive to executable instructions which when executed by the one or more processors cause the one or more processors to perform a method comprising; determining 3D coordinates of a first collection of points on an object surface with the 3D Scanner from a first fixed position; obtaining with the 3D scanner a plurality of 2D camera image sets as the 3D scanner is moved from the first fixed position to a second position; determining a first translation value in a first translation direction, a second translation value in to a second translation direction, and a first rotation value about a first orientational axis, wherein the first translation value, the second translation value, and the first rotation value are based at least in part on the plurality of 2D camera image sets; determining 3D coordinates of a second collection of points on an object surface with the 3D Scanner from the second position; identifying a correspondence among registration targets in both the first collection of points and the second collection of points, the correspondence based at least in part on the first translation value, the second translation value, and the first rotation value; and determining 3D coordinates of a registered 3D collection of points based at least in part on the determined correspondence among the registration targets, the 3D coordinates of the first collection of points, and the 3D coordinates of the second collection of points. - View Dependent Claims (2, 3, 4, 5, 7, 8, 9)
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6. The 3D measuring device 5, wherein the rotation of the mirror about the first axis is driven by a first motor and the rotation about the second axis being driven by a second motor.
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10. A method for measuring and registering three-dimensional (3D) coordinates comprising:
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providing a 3D measuring device that includes one or more processors, a movable 3D scanner, and a camera operably coupled to the 3D scanner; determining 3D coordinates of a first collection of points on an object surface with the one or more processors and the 3D scanner, the 3D scanner being fixedly located at a first position; obtaining with the 3D scanner a plurality of 2D camera image sets as the 3D scanner is moved from the first position to a second position; determining a first translation value in a first translation direction, a second translation value in to a second translation direction, and a first rotation value about a first orientational axis, wherein the first translation value, the second translation value, and the first rotation value are based at least in part on the plurality of 2D camera image sets; determining 3D coordinates of a second collection of points on an object surface with the 3D Scanner from the second position; identifying a correspondence among registration targets in both the first collection of points and the second collection of points, the correspondence based at least in part on the first translation value, the second translation value, and the first rotation value; determining 3D coordinates of a registered 3D collection of points based at least in part on the determined correspondence among the registration targets, the 3D coordinates of the first collection of points, and the 3D coordinates of the second collection of points; and storing the 3D coordinates of the registered 3D collection of points. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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Specification