GPS-enhanced system and method for automatically capturing and co-registering virtual models of a site

• US 20030137449A1
• Filed: 01/21/2003
• Published: 07/24/2003
• Est. Priority Date: 01/22/2002
• Status: Active Grant

• Current Assignee: Intelisum Incorporated
• Original Assignee: E-Businesscontrols Corporation
• Inventors: Vashisth, Robert M., Bunger, James W., Jensen, James U.
• Granted Patent: US 6,759,979 B2
• Time in Patent Office: Days
• US Class Current: 342/357.08
• CPC Class Codes: G01C 11/02 Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
• CPC Class Codes: G01S 17/08 for measuring distance only indirect measurement G01S17/46; active triangulation systems G01S17/48
• 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 19/42 Determining position

Abstract

A system for capturing a virtual model of a site includes a range scanner for scanning the site to generate range data indicating distances from the range scanner to real-world objects. The system also includes a global positioning system (GPS) receiver coupled to the range scanner for acquiring GPS data for the range scanner at a scanning location. In addition, the system includes a communication interface for outputting a virtual model comprising the range data and the GPS data.

Claims

1. A system for capturing a virtual model of a site comprising:

a range scanner for scanning a site to generate range data indicating distances from the range scanner to real-world objects within the site;

a global positioning system (GPS) receiver coupled to the range scanner for acquiring GPS data for the range scanner at a scanning location; and

a communication interface for outputting a virtual model comprising the range data and the GPS data.

2. The system of claim 1, further comprising:

a transformation module for using the GPS data with orientation information for the range scanner to automatically transform the range data from a scanning coordinate system to a modeling coordinate system.

3. The system of claim 2, wherein the modeling coordinate system is independent of the scanning location of the range scanner.

4. The system of claim 2, wherein the modeling coordinate system is a geographic coordinate system.

5. The system of claim 2, wherein the orientation information includes a bearing of the range scanner, the system further comprising:

a bearing indicator for indicating the bearing of the range scanner.

6. The system of claim 2, wherein the GPS data is selected from the group consisting of longitude, latitude, altitude, Universal Transverse Mercator (UTM) coordinates, and Earth-Centered/Earth-Fixed (ECEF) coordinates.

7. The system of claim 1, wherein the virtual model includes the orientation information.

8. The system of claim 2, further comprising:

a co-registration module for combining the transformed range data with a second set of transformed range data for the same site generated at a second scanning location.

9. The system of claim 1, further comprising:

a digital camera coupled to the range scanner for obtaining digital images of the real-world objects scanned by the range scanner.

10. The system of claim 9, wherein the virtual model associates the digital images of the real-world objects with the corresponding range data.

11. The system of claim 1, wherein the range scanner comprises:

a servo for continuously changing at least one of a bearing and a tilt of the range scanner to scan the site; and

a lidar to obtain range measurements to real-world objects along a path of the range scanner.

12. A system for capturing a virtual model of a site comprising:

a range scanner for scanning the site to generate a first set of range data indicating distances from the range scanner at a first location to real-world objects in the site;

a global positioning system (GPS) receiver coupled to the range scanner for acquiring a first set of GPS data for the range scanner at the first scanning location; and

a communication interface for outputting a first virtual model comprising the first sets of range data and GPS data;

wherein the range scanner is to re-scan the site to generate a second set of range data indicating distances from the range scanner at a second scanning location to real-world objects in the site;

wherein the GPS receiver is to obtain a second set of GPS data for the range scanner at the second location; and

wherein the communication interface is to output a second virtual model comprising the second sets of range data and GPS data.

13. The system of claim 12, wherein the first and second sets of range data have local coordinate systems referenced to the scanning locations, the system further comprising:

a transformation module for using the first and second sets of GPS data with orientation information for the range scanner at the scanning locations to automatically transform the first and second sets of range data from the local coordinate systems to a single coordinate system independent of the range scanner locations.

14. The system of claim 13, further comprising:

an orientation indicator for indicating at least a bearing of the range scanner at each location.

15. The system of claim 13, further comprising:

a co-registration module for combining the first and second sets of transformed range data into a single virtual model.

16. A system for building a virtual model of a site comprising:

a communication interface for receiving a first set of range data indicating distances from a range scanner at a first location to real-world objects within the site;

wherein the communication interface is also to receive a first set of GPS data for the range scanner at the first location; and

a transformation module for using the first set of GPS data with orientation information for the range scanner at the first location to automatically transform the first set of range data from a first local coordinate system to a modeling coordinate system independent of the first location.

17. The system of claim 16, wherein the communication interface is to receive a second set of range data indicating distances from a range scanner at a second location to real-world objects within the site;

wherein the communication interface is to receive a second set of GPS data for the range scanner at the second location;

wherein the transformation module is to use the second set of GPS data with orientation information for the range scanner at the second location to automatically transform the second set of range data from a second local coordinate system to the modeling coordinate system.

18. The system of claim 17, further comprising:

a co-registration module for combining the first and second sets of transformed range data within a single virtual model.

19. The system of claim 18, further comprising:

a merging module for merging the co-registered sets of range to correct for errors.

20. A system for modeling an object comprising:

a range scanner for scanning an object from a first vantage point to generate a first range image;

a global positioning system (GPS) receiver for obtaining GPS readings for the first vantage point;

a storage medium for associating the first range image and the GPS readings within a first virtual model.

21. The system of claim 20, wherein the range scanner is to re-scan the object from a second vantage point to generate a second range image;

wherein the GPS receiver is to acquire updated GPS readings for the second vantage point; and

wherein the storage medium is to associate the second range image and the updated GPS readings within -a second virtual model.

22. The system of claim 21, further comprising:

a transformation module for using the GPS readings associated with the virtual models, as well as information about the range scanner'"'"'s orientation at each vantage point, to automatically transform the range images from local coordinate systems referenced to the vantage points to a single coordinate system independent of the vantage points.

23. The system of claim 22, wherein the orientation information includes a bearing of the range scanner, the system further comprising:

a bearing indicator for indicating the bearing of the range scanner.

24. The system of claim 22, wherein the GPS data is selected from the group consisting of longitude, latitude, altitude, Universal Transverse Mercator (UTM) coordinates, and Earth-Centered/Earth-Fixed (ECEF) coordinates.

25. The system of claim 20, further comprising:

a camera for obtaining digital imagery of the object from each vantage point.

26. The system of claim 25, wherein the storage medium is to associate the digital imagery and the range images within the respective virtual models.

27. The system of claim 22, further comprising:

a co-registration module for co-registering the first and second range images within a single virtual model.

28. The system of claim 20, wherein each virtual model includes orientation information including at least a bearing of the range scanner.

29. A data structure for modeling a site comprising:

range data indicating distances from a range scanner to real-world objects within the site;

global positioning system (GPS) data for the range scanner at a scanning location;

orientation information indicating at least a bearing of the range scanner with respect to a coordinate system independent of the scanning location.

30. The data structure of claim 29, further comprising:

digital imagery of at least one object in the site.

31. A method for capturing a virtual model of a site comprising:

scanning a site to generate range data indicating distances from a range scanner to real-world objects within the site;

acquiring GPS data for the range scanner at a scanning location; and

outputting a virtual model comprising the range data and the GPS data.

32. The method of claim 31, further comprising:

using the GPS data with orientation information for the range scanner to automatically transform the range data from a scanning coordinate system to a modeling coordinate system.

33. The method of claim 32, wherein the modeling coordinate system is independent of the scanning location of the range scanner.

34. The method of claim 32, wherein the modeling coordinate system is a geographic coordinate system.

35. The method of claim 32, wherein the orientation information includes a bearing of the range scanner, the method further comprising:

determining the bearing of the range scanner.

36. The system of claim 32, wherein the GPS data is selected from the group consisting of longitude, latitude, altitude, Universal Transverse Mercator (UTM) coordinates, and Earth-Centered/Earth-Fixed (ECEF) coordinates.

37. The method of claim 31, wherein the orientation information includes at least one of a bearing and an altitude of the range scanner, the method further comprising:

including the orientation information with the virtual model.

38. The method of claim 32, further comprising:

combining the transformed range data with a second set of transformed range data for the same site generated at a second scanning location.

39. The method of claim 31, further comprising:

obtaining digital images of the real-world objects scanned by the range scanner.

40. The method of claim 39, further comprising:

associating the digital images of the real-world objects with the corresponding range data.

41. The method of claim 31, wherein scanning comprises:

continuously changing at least one of the range scanner'"'"'s bearing and tilt to scan the site; and

obtaining range measurements to real-world objects along a path of the range scanner.

42. A method for capturing a virtual model of a site comprising:

scanning the site to generate a first set of range data indicating distances from a range scanner at a first location to real-world objects in the site;

acquiring a first set of GPS data for the range scanner at the first location;

outputting a first virtual model comprising the first sets of range data and GPS data;

scanning the site to generate a second set of range data indicating distances from the range scanner at a second location to real-world objects in the site;

acquiring a second set of GPS data for the range scanner at the second location; and

outputting a second virtual model comprising the second sets of range data and GPS data.

43. The method of claim 42, wherein first and second sets of range data have local coordinate systems referenced to the scanning locations, the method further comprising:

using the first and second sets of GPS data with orientation information for the range scanner at the scanning locations to automatically transform the first and second sets of range data from the local coordinate systems to a single coordinate system independent of the range scanner locations.

44. The method of claim 43, further comprising:

determining orientation information for the range scanner at each location, wherein the orientation information includes at least a bearing of the range scanner.

45. The method of claim 43, further comprising:

combining the first and second sets of transformed range data into a single virtual model.

46. A method for building a virtual model of a site comprising:

receiving a first set of range data indicating distances from a range scanner at a first location to real-world objects within the site;

receiving a first set of GPS data for the range scanner at the first location; and

using the first set of GPS data with orientation information for the range scanner at the first location to automatically transform the first set of range data from a first local coordinate system to a modeling coordinate system independent of the first location.

47. The method of claim 46, further comprising:

receiving a second set of range data indicating distances from a range scanner at a second location to real-world objects within the site;

receiving a second set of GPS data for the range scanner at the second location; and

using the second set of GPS data with orientation information for the range scanner at the second location to automatically transform the second set of range data from a second local coordinate system to the modeling coordinate system.

48. The method of claim 47, further comprising:

co-registering the first and second sets of transformed range data into a single virtual model.

49. The method of claim 48, further comprising:

merging the co-registered sets of range data to correct for errors.

50. A method for modeling an object comprising:

scanning an object from a first vantage point to generate a first range image;

acquiring GPS readings for the first vantage point; and

associating the first range image and the GPS readings within a first virtual model.

51. The method of claim 50, further comprising:

re-scanning the object from a second vantage point to generate a second range image;

acquiring updated GPS readings for the second vantage point; and

associating the second range image and the updated GPS readings within a second virtual model.

52. The method of claim 51, further comprising:

using the GPS readings of the virtual models, as well as information about the range scanner'"'"'s orientation at each vantage point, to automatically transform the associated range images from local coordinate systems referenced to the vantage points to a single coordinate system independent of the vantage points.

53. The system of claim 52, wherein the orientation information includes a bearing of the range scanner, the method further comprising:

determining the bearing of the range scanner.

54. The system of claim 52, wherein the GPS data is selected from the group consisting of longitude, latitude, uniform, altitude, Universal Transverse Mercator (UTM) coordinates, and Earth-Centered/Earth-Fixed (ECEF) coordinates.

55. The method of claim 50, further comprising:

obtaining digital imagery of the object from each vantage point.

56. The method of claim 55, further comprising:

associating the digital imagery and the range images within the respective virtual models.

57. The method of claim 52, further comprising:

co-registering the first and second range images within a single virtual model.

58. A system for creating a virtual model of an area including multiple sites, the system comprising:

a range scanner equipped with a global positioning system (GPS) receiver to generate a model of a first site within the area, the first site model comprising GPS data, wherein the range scanner is also to generate a model of a second site within the area, the second site model comprising GPS data; and

a co-registration module for combining the first site model and the second site model into an area model responsive to the GPS data.

59. The system of claim 58, wherein the first site model has a first coordinate system and the second site model has a second coordinate system, and wherein the transformation module is to use the GPS data to place the first and second site models into a common coordinate system.

60. A method for creating a virtual model of an area including multiple sites, the method comprising:

using a range scanner equipped with a global positioning system (GPS) receiver to generate a model of a first site within the area, the first site model comprising GPS data;

using the range scanner to generate a model of a second site within the area, the second site model comprising GPS data; and

combining the first site model and the second site model into an area model responsive to the GPS data.

61. The method of claim 60, wherein the first site model has a first coordinate system and the second site model has a second coordinate system, and wherein combining comprises using the GPS data to place the first and second site models into a common coordinate system.

62. An apparatus comprising:

means for scanning a site to generate range data indicating distances from a range scanner to real-world objects within the site;

means for acquiring GPS data for the range scanner at a scanning location; and

means for outputting a virtual model comprising the range data and the GPS data.

63. A computer program product comprising program code for performing a method for building a virtual model of a site, the method comprising:

receiving a first set of range data indicating distances from a range scanner at a first location to real-world objects within the site;

receiving a first set of GPS data for the range scanner at the first location;

using the first set of GPS data with orientation information for the range scanner at the first location to automatically transform the first set of range data from a first local coordinate system to a modeling coordinate system, wherein the modeling coordinate system is independent of the first location;

storing a first virtual model based on the first sets of range data and GPS data;

receiving a second set of range data indicating distances from a range scanner at a second location to real-world objects within the site;

receiving a second set of GPS data for the range scanner at the second location;

using the second set of GPS data with orientation information for the range scanner at the second location to automatically transform the second set of range data from a second local coordinate system to the modeling coordinate system; and

storing a second virtual model comprising the second sets of range data and GPS data.