Method and apparatus for specifying and displaying measurements within a 3D rangefinder data set

• US 20060181527A1
• Filed: 02/09/2006
• Published: 08/17/2006
• Est. Priority Date: 02/11/2005
• Status: Active Grant

• Current Assignee: Uatc, LLC (Uber Technologies, Inc.)
• Original Assignee: DeltaSphere, Inc.
• Inventors: Elgin, Benjamin C., Holloway, Richard L., Helser, Aron T., England, James N.
• Granted Patent: US 7,777,761 B2
• Time in Patent Office: Days
• US Class Current: 345/419
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 7/4817 relating to scanning

Abstract

A method, computer program product, and apparatus for specifying, making, and displaying measurements within a 3D range data set obtained using a 3D rangefinder device. A 3D range data set is provided and represented as a first 2D displayed image and a second displayed image. The second displayed image is selected from the group consisting of a second 2D displayed image and a 3D displayed image. At least one feature is identified in the first 2D displayed image and the second displayed image, such that a measurement can be computed based on the identified features. The computed measurement is displayed in at least one of the first 2D displayed image and the second displayed image.

Claims

1. A method for making measurements within a 3D range data set obtained using a 3D range finder device, comprising:

providing a 3D range data set;

representing the 3D range data set as a first 2D displayed image;

representing the 3D range data set as a second displayed image selected from the group consisting of a second 2D displayed image and a 3D displayed image;

identifying at least a first feature within the first 2D displayed image;

identifying at least a second feature within the second displayed image;

computing a measurement utilizing the 3D range data set and based on at least the first feature and the second feature; and

displaying the computed measurement within at least one of the first 2D displayed image and the second displayed image.

2. The method of claim 1 wherein the computed measurement is displayed in at least one of the first 2D displayed image only, the second displayed image only, and both the first 2D displayed image and the second displayed image in combination.

3. The method of claim 1, where displaying the computed measurement displayed represents displaying at least one display selected from the group consisting of a measurement point, a plurality of measurement points, a measurement line, a plurality of measurement lines, a measurement surface, a plurality of measurement surfaces, a measurement volume, values, a plurality of values, a plurality of measurement volumes, a measurement feature, a plurality of measurement features, and combinations thereof.

4. The method of claim 1, wherein the computed measurement displayed is selected from the group of displays consisting of displaying the computed measurement in at least a third displayed image, displayed in the first 2D displayed image, displayed in the second displayed image, and displayed in some combination of the preceding displays.

5. The method of claim 1, wherein the 3D range data set is provided by a 3D rangefinder device selected from the group consisting of a scanning laser range finder using time of flight range measurement principles, a scanning laser rangefinder using phase comparison range measurement principles, a scanning laser rangefinder using any other range measurement principles, an imaging laser rangefinder range camera using time of flight range measurement principles, an imaging laser rangefinder range camera using phase comparison range measurement principles, an imaging laser rangefinder range camera using any other range measurement principles, a triangulation rangefinder, a stereo image rangefinder, a multiple image rangefinder, any other device that acquires a multiplicity of range data points simultaneously, and any other device that acquires a multiplicity of range data points over a period of time and combinations of the above.

6. The method of claim 1, wherein at least one of the first 2D displayed image and the second displayed image comprises a 2D image selected from the group consisting of a 2D range image comprising range values from the 3D rangefinder device converted to monochrome, a 2D range image comprising range values from the 3D rangefinder device converted to false color, a 2D reflectance image comprising intensity values of the rangefinding signal reflected from a physical surface and thereafter received by the 3D rangefinder device converted to monochrome, a 2D reflectance image comprising intensity values of the rangefinding signal reflected from a physical surface and thereafter received by the 3D rangefinder device converted to false color, a 2D registered color image comprising a color camera image previously registered with 3D range data, a 2D registered color image wherein the image is acquired from the same perspective as the 3D range data set, a 2D registered color image wherein the image is acquired from a different perspective than the 3D range data set, a 2D registered color image wherein the image is acquired with the same resolution as the 3D range data set, a 2D registered color image wherein the image is acquired with different resolution from the 3D range data set, a 2D image displayed in spherical projection format, a 2D image displayed in any other 3D-to-2D projection format, and a 2D registered monochrome image comprising a monochrome camera image previously registered with 3D range data.

7. The method of claim 1, wherein the second displayed image comprises a 3D image selected from the group consisting of a 3D point display, a 3D point display in orthogonal projection, a 3D point display in perspective projection, a 3D polygonal mesh display, a 3D polygonal mesh display in orthogonal projection, a 3D polygonal mesh display in perspective projection, a 3D surface geometry display, a 3D surface geometry display in orthogonal projection, and a 3D surface geometry display in perspective projection.

8. The method of claim 1, implemented in a computer processor executing a suitable computer software program product therein.

9. The method of claim 1, implemented in a suitable computer software program product embodied on computer readable tangible media.

10. The method of claim 1, wherein identifying at least one of the first feature and the second feature comprises using a facility selected from the group consisting of using a computer cursor controlled by a mouse to identify, using a computer cursor controlled by a pointing stick to identify, using a computer cursor controlled by a joystick to identify, using a computer cursor controlled by a touch pad to identify, using software to identify, and using combinations of the above to identify.

11. The method of claim 1, wherein at least part of identifying a feature is performed automatically including at least one operation selected from the group consisting of automatically orienting a measurement perpendicularly from a specified surface, automatically placing a feature restricted to a specified surface, automatically placing a feature in the center of a circular feature, and automatically using combinations of the preceding to identify.

12. The method of claim 1, wherein specifying corresponding features comprises at least one technique selected from the group consisting of using sub-pixel interpolation in any displayed image wherein a software tool may allow the user to estimate and specify the location of a feature anywhere within a pixel and not just at its origin, using interpolation between measured 3D range data points on surfaces in any 3D displayed image wherein a software tool may allow the user to estimate and specify the location of a feature anywhere upon a surface even if that particular location is not directly associated with a measured 3D range data point, using estimates of the centers of features wherein the user may estimate and specify the location of the center of a feature even if the particular pixel at that chosen center appears no different from adjacent pixels, and using holes and data interpolated across holes wherein the rangefinder device did not acquire a range measurement and wherein a software tool may allow the user to estimate and specify the location of a feature anywhere within a hole even though that particular location is not directly associated with a measured 3D range data point.

13. A computer program product stored in computer readable media for execution in at least one processor for making measurements within a 3D range data set obtained using a 3D rangefinder device, comprising:

a first software module for providing a first 3D range data set to the at least one processor;

a second software module for representing the 3D range data set as a first 2D displayed image;

a third software module for representing the 3D range data set as a second displayed image selected from the group consisting of a second 2D displayed image and a 3D displayed image;

a fourth software module for identifying at least a first feature within the first 2D displayed image;

a fifth software module for identifying at least a second feature within the second displayed image;

a sixth software module for computing a measurement utilizing the 3D range data set and based on at least the first feature and the second feature; and

a seventh software module for displaying the computed measurement within at least one of the first 2D displayed image and the second displayed image.

14. The computer program product of claim 13, wherein the displayed computed measurement is selected from the group of displays consisting of displaying the computed measurement in at least a third displayed image, displayed in the first 2D displayed image, displayed in the second displayed image, and displayed in some combination of the preceding displays.

15. The computer program product of claim 13, wherein the 3D range data set is provided by a 3D rangefinder device selected from the group consisting of a scanning laser rangefinder using time of flight range measurement principles, a scanning laser rangefinder using phase comparison range measurement principles, a scanning laser range finder using any other range measurement principles, an imaging laser rangefinder range camera using time of flight range measurement principles, an imaging laser rangefinder range camera using phase comparison range measurement principles, an imaging laser rangefinder range camera using any other range measurement principles, a triangulation rangefinder, a stereo image rangefinder, a multiple image rangefinder, any other device that acquires a multiplicity of range data points simultaneously, and any other device that acquires a multiplicity of range data points over a period of time and combinations of the above.

16. The computer program product of claim 13, wherein at least one of the first 2D displayed image and the second displayed image comprises a 2D image selected from the group consisting of a 2D range image comprising range values from the 3D rangefinder device converted to monochrome, a 2D range image comprising range values from the 3D rangefinder device converted to false color, a 2D reflectance image comprising intensity values of the rangefinding signal reflected from a physical surface and thereafter received by the 3D range finder device converted to monochrome, a 2D reflectance image comprising intensity values of the rangefinding signal reflected from a physical surface and thereafter received by the 3D rangefinder device converted to false color, a 2D registered color image comprising a color camera image previously registered with 3D range data, a 2D registered color image wherein the image is acquired from the same perspective as the 3D range data set, a 2D registered color image wherein the image is acquired from a different perspective than the 3D range data set, a 2D registered color image wherein the image is acquired with the same resolution as the 3D range data set, a 2D registered color image wherein the image is acquired with different resolution from the 3D range data set, a 2D image displayed in spherical projection format, a 2D image displayed in any other 3D-to-2D projection format, and a 2D registered monochrome image comprising a monochrome camera image previously registered with 3D range data.

17. An apparatus for making measurements within a 3D range data set obtained using a 3D rangefinder device, comprising:

at least one computer processor;

a computer program product executing within the at least one computer processor, wherein the computer program product further comprises at least the following software modules therein;

a first software module for providing a first 3D range data set to the at least one processor;

a second software module for representing the 3D range data set as a first 2D displayed image;

a third software module for representing the 3D range data set as a second displayed image selected from the group consisting of a second 2D displayed image and a 3D displayed image;

a fourth software module for identifying at least a first feature within the first 2D displayed image;

a fifth software module for identifying at least a second feature within the second displayed image;

a sixth software module for computing a measurement utilizing the 3D range data set and based on at least the first feature and the second feature; and

a seventh software module for displaying the computed measurement within at least one of the first 2D displayed image and the second displayed image.

18. The apparatus of claim 17, wherein the displayed computed measurement is selected from the group of displays consisting of displaying the computed measurement in at least a third displayed image, displayed in the first 2D displayed image, displayed in the second displayed image, and displayed in some combination of the preceding displays.

19. The apparatus of claim 17, wherein the 3D range data set is provided by a 3D range finder device selected from the group consisting of a scanning laser rangefinder using time of flight range measurement principles, a scanning laser rangefinder using phase comparison range measurement principles, a scanning laser rangefinder using any other range measurement principles, an imaging laser rangefinder range camera using time of flight range measurement principles, an imaging laser rangefinder range camera using phase comparison range measurement principles, an imaging laser rangefinder range camera using any other range measurement principles, a triangulation rangefinder, a stereo image rangefinder, a multiple image rangefinder, any other device that acquires a multiplicity of range data points simultaneously, and any other device that acquires a multiplicity of range data points over a period of time and combinations of the above.

20. The apparatus of claim 17, wherein at least one of the first 2D displayed image and the second displayed image comprises a 2D image selected from the group consisting of a 2D range image comprising range values from the 3D rangefinder device converted to monochrome, a 2D range image comprising range values from the 3D rangefinder device converted to false color, a 2D reflectance image comprising intensity values of the rangefinding signal reflected from a physical surface and thereafter received by the 3D rangefinder device converted to monochrome, a 2D reflectance image comprising intensity values of the rangefinding signal reflected from a physical surface and thereafter received by the 3D rangefinder device converted to false color, a 2D registered color image comprising a color camera image previously registered with 3D range data, a 2D registered color image wherein the image is acquired from the same perspective as the 3D range data set, a 2D registered color image wherein the image is acquired from a different perspective than the 3D range data set, a 2D registered color image wherein the image is acquired with the same resolution as the 3D range data set, a 2D registered color image wherein the image is acquired with different resolution from the 3D range data set, a 2D image displayed in spherical projection format, a 2D image displayed in any other 3D-to-2D projection format, and a 2D registered monochrome image comprising a monochrome camera image previously registered with 3D range data.