Method for improved data capture of ambient environment

Abstract

A method for improved data capture of an ambient environment. The invention relates to a computer-implemented method of capturing data of an ambient environment, comprising receiving path information about a predefined data capture path; automatically performing a navigation and data capture process, including continuously monitoring a current position of the data capture unit; calculating a transfer path from the current position to a starting position of a predefined data capture path; continuously providing navigation commands to the user to guide the user along the transfer path; continuously determining whether the data acquisition unit reaches the starting position based on the path information and the continuously monitored position; providing a start command to the data capture unit to cause the data capture unit to capture data of the surrounding environment if the start position is reached; continuously providing navigation commands to the user to guide the user to an end location of the predefined data capture path; if the end position has been reached, an end command to cause the data capture unit to end capturing the data of the surrounding environment is provided to the data capture unit.

Description

Technical Field

[0001] The present invention relates to a computer-implemented method for capturing data of the surrounding environment by means of a data capture unit. Background Art

[0002] Mobile mapping is used for surveying projects and other applications, such as engineering, entertainment, automotive or robotics, where a 2D or 3D model of an object or environment is required. For these purposes, common mobile mapping systems consist of a sensor unit equipped with a LiDAR scanner and / or a camera to create a 2D or 3D model of the environment / surroundings.

[0003] Typical mobile mapping systems are vehicle-based systems (e.g., in a car, train or boat), where the sensor unit is mounted on the roof of the vehicle and collects data about the surroundings while the vehicle is moving. There is also a mobile mapping system where the user walks through the surroundings while holding the sensor unit in his hand or carrying the sensor unit on his body, e.g., as a backpack.

[0004] The sensor unit is triggered by a software interface with which the user interacts during data acquisition / capture. These interactions with the software interface are required to trigger different behaviors from the sensor unit in order to build a 2D or 3D model at a desired level of accuracy and precision. Examples of the user's interaction with the sensor unit or the control unit of the sensor unit are, for example, turning on and off the LiDAR scanner and / or the camera, changing the sensor settings in real time, adjusting the map view and checking for errors and warnings.

[0005] The fact that the user has to interact with the software interface during data capture in prior art systems means that there is a risk that the user may, for example, make an error when turning on the sensor unit and thus not fully capture the data from the surrounding environment or capture data of a specific surrounding environment (e.g., like a military facility from which he should not capture data). There is also the risk that in the case of a hand-held system or a vehicle-based system, the user will be distracted due to the interaction with the software interface and thus lose balance or even fall or cause a traffic accident. In other words, the user has to pay attention to a predefined data capture path (the road in the case of a car-based system) and also has to pay attention to the software interface, which is a potential accident risk.

[0006] In addition, mobile mapping systems known from the prior art also have the following disadvantages: the user has to be an expert in handling the mapping system, e.g., knowing exactly how and when to trigger the sensor unit, and in the case of a vehicle system, at least two users (i.e., the driver and the operator) have to interact with the user interface in order to follow the plan.

[0007] In addition, due to the need to coordinate many factors, the planning of such survey operations is a complex task for humans. For example, it is necessary to determine how to arrange or align a number of predefined data capture paths so that the data of the surrounding environment can be captured as completely as possible, but this requires as little time and as short a distance to be covered as possible. Such a large and complex plan executed by humans is very error-prone and also time-consuming and cost-intensive.

[0008] All of these result in higher costs for each project, potential errors in the final 2D or 3D models due to human interaction, and the complexity of usability due to the introduction of new technologies, as well as potential hazards for users and others.

[0009] Therefore, there is a need for computer-implemented methods and computer systems that perform the control of guiding a user to navigate through the surrounding environment along predefined data capture paths and data capture units (such as laser scanners or cameras) for complete data capture of the surrounding environment, so that the user can focus only on moving. Summary of the Invention

[0010] Object of the Invention

[0011] Therefore, an object of the present invention is to provide a computer-implemented method, a computer system, and a computer program product that overcome the disadvantages of the prior art, especially in view of safety, error reduction, and cost efficiency.

[0012] Another object of the present invention is to provide a computer-implemented method, a computer system, and a computer program product for improved navigation and data capture of the environment.

[0013] Overview of the Invention

[0014] The present invention relates to a computer-implemented method for capturing data of the surrounding environment by means of a data capture unit (for example, a portable / movable data capture unit), wherein the method comprises:

[0015] · Receiving path information about a predefined data capture path, the path information at least including the coordinates of a plurality of points of the predefined data capture path, in particular GNSS coordinates; and

[0016] · Automatically performing a navigation and data capture process,

[0017] wherein the navigation and data capture process comprises:

[0018] · Continuously monitoring the current position of the data capture unit;

[0019] · Calculating a transfer path from the current position to the starting position of the predefined data capture path;

[0020] · Continuously provide navigation commands to the user to guide the user along the transfer path;

[0021] · Continuously determine whether the data capture unit has reached the starting position based on the path information and the continuously monitored position;

[0022] · If the data capture unit reaches the starting position, provide a start command to the data capture unit, the start command causing the data capture unit to capture data of the surrounding environment;

[0023] · Continuously provide navigation commands to the user to guide the user to the end position of the predefined data capture path; and

[0024] · If the data capture unit has reached the end position, provide an end command to the data capture unit, the end command causing the data capture unit to end capturing data of the surrounding environment.

[0025] The predefined data capture path can also be described as a "route", where each predefined data capture path is part of a planned job. Thus, a job will always consist of a specific number of predefined data capture paths (routes). A "transfer path" is each path that the user must follow to reach the starting point of the next planned route. Thus, the planned job is a combination of transfers and routes that the user must go through to achieve the desired result. Each route has a starting point and an end point representing the limitations of the acquisition that the user wants to perform. In addition, they contain specific sensor unit settings, such as the camera shooting frequency and LiDAR point cloud density previously defined by the user in the planning phase. Thus, the planned job results in a list of routes geolocated on the map by the defined set of starting and ending coordinates.

[0026] Regarding the step of the computer-implemented method according to the present invention "If the data capture unit has reached the starting position, provide a start command to the data capture unit, the start command causing the data capture unit to capture data of the surrounding environment", it can be paraphrased as, once the sensor unit reaches the starting point of the planned route and the necessary conditions are met, the sensor unit will automatically start recording the settings of each sensor according to the planned settings. Exemplary conditions for starting to record the planned route are (this list is not exhaustive and is not intended to be restrictive, it is only an example of starting conditions):

[0027] · The sensor unit is close enough to the starting point within the oriented bounding box;

[0028] · The normalized projection along the section is greater than a specified threshold;

[0029] · The orientation of the sensor unit must be within a tolerance cone of 120° with respect to the route orientation;

[0030] · According to the optimized plan, the route to be captured must be the correct route;

[0031] · The route to be approached must not have been (e.g., by the user) recorded or disabled.

[0032] After starting the recording, the sensor unit will maintain its settings along the route until it reaches the end point where the recording will automatically be interrupted.

[0033] The computer-implemented method according to the present invention enables the user to be precisely navigated to a predefined data capture path in the surrounding environment and to be precisely navigated along the predefined data capture path (data should be captured from the data capture path), as well as the accurate and autonomous control of a data capture unit (such as a laser scanner or a camera) to fully capture the data of the surrounding environment. This allows the user to fully focus on moving around correctly and safely, whether walking or driving a vehicle. Therefore, the computer-implemented method according to the present invention is particularly helpful for complete, error-reduced, fast, cost-effective, and safe data capture of the surrounding environment, and thus solves the problems of the prior art.

[0034] In other words, the automatic capture solution according to the present invention solves the prior art problems in the entire workflow from planning to acquisition, thus allowing a hands-free experience of guiding the user through the optimal path while triggering and configuring the sensor unit in an autonomous manner.

[0035] In an exemplary embodiment of the computer-implemented method according to the present invention, the current position of the data capture unit is continuously monitored by means of at least one of the following (this list is not exhaustive and is not intended to be restrictive):

[0036] · GNSS;

[0037] · SLAM;

[0038] · IMU; and

[0039] · Odometer (mechanical (such as a wheel sensor) or optical).

[0040] In another exemplary embodiment of the computer-implemented method, the method further includes generating a particularly colored 2D and / or 3D model of the surrounding environment by means of the data captured by the data capture unit.

[0041] In another exemplary embodiment, the movement of the data capture unit is provided by:

[0042] · The user carries the data capture unit; or,

[0043] · The data capture unit is mounted on a transport device controlled by the user.

[0044] In particular, the conveying device is

[0045] · a vehicle, in particular a motor vehicle or a motorcycle;

[0046] · a ship;

[0047] · an aircraft; or

[0048] · a drone.

[0049] In another exemplary embodiment, the data capture unit includes one or more laser scanners and / or one or more cameras (in other words, an image capture unit), and is configured to capture 3D point cloud data and / or image data of the surrounding environment.

[0050] For example, the data capture unit may include a laser scanner configured to capture 3D point cloud data of the surrounding environment and a camera configured to capture image data of the surrounding environment. Alternatively or in addition, for example, if the camera is configured as a time-of-flight (TOF) camera, the camera may be configured to capture 3D point cloud data, and for example, if the laser scanner is configured to capture a colored point cloud, the laser scanner may be configured to capture image data.

[0051] In another exemplary embodiment,

[0052] navigational commands are continuously provided to the user in the following manner

[0053] · acoustically by means of an audio signal;

[0054] · haptically by means of a vibration signal; and / or

[0055] · visually by means of visualization on a display.

[0056] In another exemplary embodiment, the method further includes:

[0057] If

[0058] · the user leaves a predefined data capture path, in particular before reaching the end position of the predefined data capture path;

[0059] · an obstacle interferes with or prevents data capture of the surrounding environment; and / or

[0060] · the user moves at a speed that does not allow data of the surrounding environment to be captured with sufficient accuracy to enable generation of a particularly colored 2D and / or 3D model of the surrounding environment,

[0061] then

[0062] · a notification is provided to the user; and / or

[0063] · Provide an intermediate end command to the data capture unit, the intermediate end command causing the data capture unit to end capturing data of the surrounding environment,

[0064] wherein the position where the user provides the intermediate end command on the predefined data capture path is defined as the intermediate end position.

[0065] In another exemplary embodiment, the method further includes:

[0066] · Continuously provide navigation commands to the user so that

[0067] ο If the user leaves the predefined data capture path, guide the user back to the predefined data capture path;

[0068] ο If the capture of data of the surrounding environment has been interrupted or blocked by an obstacle, guide the user along the predefined data capture path past the obstacle;

[0069] ο If the intermediate end command is provided, guide the user to the intermediate end position; and / or

[0070] ο Guide the user to the part of the predefined data capture path where the surrounding environment has not been captured yet, and

[0071] · Provide an intermediate start command to the data capture unit in the following cases, the intermediate start command causing the data capture unit to start capturing data of the surrounding environment:

[0072]

[0073] ο If the user returns to the predefined data capture path;

[0074] ο If the user has been guided past the obstacle;

[0075] ο If the user is now moving again at a speed such that data of the surrounding environment can be captured with sufficient accuracy to generate in particular a colored 2D and / or 3D model of the surrounding environment; and / or

[0076] ο If the user reaches the intermediate end position.

[0077] Such an obstacle can be, for example, an obstacle on the user's path (e.g., road closure) such that the user has to make a longer detour and thus has to leave the predefined data capture path and thus cannot capture some data of the surrounding environment of the predefined data capture path, or an obstacle covering a certain part of the surrounding environment (e.g., scaffolding) such that the user can stay on the predefined data capture path but still cannot capture data of the surrounding environment of the predefined data capture path.

[0078] ​In other words, if the user drives out of the route (due to unplanned situations, e.g., construction sites or taking the wrong exit on a roundabout), the system will stop capturing and redirect the user to the starting point of the route, which will be the remaining position of the previous route. Then a new remaining route is created, called the "remaining route" or "rest of the route". In this case, there is also the possibility of continuing the capture in manual mode. Additionally, this implementation allows adapting the plan to real-world environmental change conditions, such as: closed streets, path deviations, or voluntary plan changes with a specific set of tools.

[0079] In another implementation, once the data capture job is completed, a completion report is shown (what percentage of the planned route has been captured), and if not all of the planned route, a planned route for a new data capture job is default created, where the route that was not acquired but planned is used for later acquisition.

[0080] In another exemplary implementation, the method further includes receiving information about the distance that must be covered to traverse a predefined data capture path, specifically the distance from the starting position to the ending position.

[0081] In another exemplary implementation, the method further includes receiving information about the expected time required to traverse a predefined data capture path, specifically the time from the starting position to the ending position.

[0082] In another exemplary implementation, the method further includes providing information on how a plurality of predefined data capture paths can be arranged so that data of the surrounding environment (from which in particular a colored 2D and / or 3D model must be generated) is effectively captured, specifically such that the shortest possible distance must be covered and / or the shortest possible time is required.

[0083] Such a plan / such information can be imported from an external source in a computer system according to the present invention (e.g., Pegasus field), or can be defined within a built-in planning module. When the plan is ready, the user can continue with the autonomous acquisition.

[0084] In another implementation, during the recording and transfer of a predefined data capture path (route), guiding instructions are provided to help the user follow the plan. After capturing a predefined data capture path (route), the user is guided to the next data capture path until a complete data capture job is obtained. All of the above processes do not require any interaction from the user.

[0085] As an alternative or addition to the foregoing embodiments, the user may assign different data capture unit parameters (in other words, sensor unit parameters) to each predefined data capture path (planned route) and optimize the path / route sequence based on, for example, his experience and / or current data, current data on satellite availability and / or traffic conditions, to define the most efficient path for the acquisition operation. The possibility of defining different settings for the data capture path / route is important because, for example, the user has to drive through a "camera not allowed" area (such as a military area), where the camera only needs to be turned off for a certain part of the route (not necessarily the entire operation).

[0086] In another exemplary embodiment, the path information includes the route of a predefined data capture path within an environmental map, where the environmental map is

[0087] · a topographic map;

[0088] · a nautical chart;

[0089] · a city map;

[0090] · an architectural floor plan;

[0091] · a satellite image; or

[0092] · an aerial photograph.

[0093] The invention also relates to a computer system for capturing data of the surrounding environment by means of a data capture unit, in particular, where the system is configured to execute a computer-implemented method according to one of the foregoing embodiments, the system including a computing unit configured to:

[0094] · receive path information about a predefined data capture path, the path information including at least the coordinates of a plurality of points of the predefined data capture path, in particular GNSS coordinates; and

[0095] · automatically execute a navigation and data capture process,

[0096] where the navigation and data capture process includes:

[0097] · continuously monitor the current position of the data capture unit;

[0098] · calculate a transfer path from the current position to the starting position of the predefined data capture path;

[0099] · provide the user with continuous navigation commands to guide the user along the transfer path;

[0100] · continuously determine, based on the path information and the continuously monitored position, whether the data capture unit has reached the starting position;

[0101] · If the data capture unit reaches the starting position, a start command is provided to the data capture unit, and the start command causes the data capture unit to capture data of the surrounding environment;

[0102] · Navigation commands are continuously provided to the user to guide the user to the end position of a predefined data capture path; and

[0103] · If the data capture unit reaches the end position, an end command is provided to the data capture unit, and the end command causes the data capture unit to end the capture of data of the surrounding environment.

[0104] The present invention also relates to a computer program product, which includes program code stored on a machine-readable medium or specifically implemented by an electromagnetic wave including program code segments, and has computer-executable instructions for execution, especially when running on a computing unit of the above computer system:

[0105] · Receive path information about a predefined data capture path, where the path information includes at least coordinates of multiple points of the predefined data capture path, especially GNSS coordinates; and

[0106] · Automatically execute the navigation and data capture process,

[0107] wherein the navigation and data capture process includes:

[0108] · Continuously monitor the current position of the data capture unit;

[0109] · Calculate the transfer path from the current position to the starting position of the predefined data capture path;

[0110] · Continuously provide navigation commands to the user to guide the user along the transfer path;

[0111] · Continuously determine whether the data capture unit has reached the starting position based on the path information and the continuously monitored position;

[0112] · If the data capture unit reaches the starting position, a start command is provided to the data capture unit, and the start command causes the data capture unit to capture data of the surrounding environment;

[0113] · Continuously provide navigation commands to the user to guide the user to the end position of the predefined data capture path; and

[0114] · If the data capture unit has reached the end position, an end command is provided to the data capture unit, and the end command causes the data capture unit to end the capture of data of the surrounding environment.

[0115] In an exemplary embodiment of a computer program product according to the present invention, the program code includes computer-executable instructions for performing any of the steps in the computer-implemented method according to one of the above-described embodiments.

[0116] In other words, the features listed below can supplement the computer-implemented method according to the present invention, thus forming the alternative embodiments described previously. The features are (this list is not exhaustive and is not intended to be restrictive; it is merely an example of possible features):

[0117] · Adding audio guidance to avoid the need to view the interface;

[0118] · Turn-by-turn instructions to guide the user through the plan;

[0119] · Intelligent and autonomous map visualization based on the next action to be taken;

[0120] · Camera embedding direction;

[0121] · 3D and 2D map polygons;

[0122] · Plan optimization based on traffic conditions and satellite coverage to achieve the best data quality;

[0123] · Supporting the scanned area instead of a single route -> planning using polygons and starting / stopping capture if entering / leaving the polygon;

[0124] · Planning jobs in a desktop environment.

[0125] The computer-implemented method, computer system, and computer program product according to the present invention have advantages over the prior art, in particular:

[0126] · Do not require expert users to successfully achieve the desired data capture results,

[0127] · In the case of vehicle-based systems, do not require two operators,

[0128] · Increased safety allows users to focus their minds on the path when capturing data,

[0129] · There is less room for manual errors when capturing data,

[0130] · Improve efficiency through optimal path definition.

[0131] Given these benefits, the result is a significant reduction in capture time and cost, as well as improved safety and overall project quality by reducing human errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0132] The present invention will be described in more detail below by way of example only with reference to working examples schematically shown in the accompanying drawings. Identical elements are denoted by the same reference numerals in the figures. The described embodiments are generally not shown to scale and they should not be construed as limiting the present invention.

[0133] Figure 1 : Schematic diagram of path information received regarding a predefined data capture path;

[0134] Figure 2 : Schematic diagram of an embodiment of a computer-implemented method of a computer system according to the present invention;

[0135] Figures 3 to 4 : Schematic diagram of a software interface of a computer system according to the present invention;

[0136] Figure 5 : Schematic diagram of a 3D model of the surrounding environment generated based on data of the captured surrounding environment;

[0137] Figures 6A to 6B : Schematic diagram of a workflow for capturing data by a computer system according to the present invention using a computer-implemented method accordingly. Detailed Embodiments

[0138] Figure 1 A schematic diagram showing received path information regarding a predefined data capture path 1 is shown. Thereafter, during the process of a computer-implemented method of a computer system according to the present invention, the navigation and data capture processes are automatically performed. The navigation and automatic capture processes include the following steps: continuously monitoring the current position 2 of the data capture unit; calculating a transfer path 3 from the current position 2 to the starting position 4 of the predefined data capture path 1; continuously providing navigation commands to the user to guide the user along the transfer path 3; continuously determining, based on the path information and the continuously monitored position, whether the data capture unit has reached the starting position 4; if the data capture unit has reached the starting position 4, providing a start command to the data capture unit, the start command causing the data capture unit to capture data of the surrounding environment 5; continuously providing navigation commands to the user to guide the user to the end position 6 of the predefined data capture path 1; and if the data capture unit has reached the end position 6, providing an end command to the data capture unit, the end command causing the data capture unit to end capturing data of the surrounding environment 5.

[0139] If a 2D or 3D model of a larger surrounding area, such as an entire urban area with several streets, must be created, the data of which cannot be reasonably acquired by a single data acquisition path, then in another embodiment of the computer-implemented method according to the invention, the following information is provided regarding how multiple predefined data capture paths can be arranged so that the data of the environment (from which a particularly colored 2D and / or 3D model must be created) is effectively captured, in particular such that the shortest possible distance must be covered and / or the shortest possible time is required. The individual predefined data capture paths are connected by additional transfer paths, which are shown by the transfer path 3' in Figure 1 is shown by the transfer path 3'.

[0140] Figure 2 Schematic diagrams of embodiments of the computer-implemented method of a computer system according to the invention are shown respectively. In this case, the user leaves the predefined data capture path 2 at position 7 and wrongly moves to path 8 before reaching the end position of the predefined data capture path, whereby the data of the surrounding environment along path 8 should not be captured at all. The remaining part of the predefined data acquisition path 2 (from which the data is now missing) is shown as path 9. In one embodiment of the computer-implemented method according to the invention, in this case, a notification is provided to the user and / or an intermediate end command is provided to the data capture unit, the intermediate end command causing the data capture unit to end the capture of the data of the surrounding environment, wherein the position 7 on the predefined data capture path 2 where the intermediate end command is provided to the user is defined as the intermediate end position 7.

[0141] In exemplary embodiments of the computer-implemented method of a computer system according to the invention respectively, navigation commands (e.g., "turn right in 200 meters") are continuously provided to the user (e.g., by acoustic announcements or indications on a display) to guide the user back to the intermediate end position 7, and then when the user reaches the intermediate end position, an intermediate start command is provided to the data capture unit, the start command causing the data capture unit to start capturing the data of the surrounding environment 5 again.

[0142] Figure 3 A schematic diagram of a software interface 14 of a computer system according to the invention is shown, which shows an environmental map 12 and a configuration window 13, in which the user can define settings regarding the navigation and data capture process and / or parameters followed for the data capture to display sufficiently accurate data to the user by means of a data capture device.

[0143] The environmental map 12 shows several streets along which data on the surrounding environment will be captured by means of a data capture device. For example, the user can click on the road map 12 to define the start and end points of data capture, and then the computing unit of the computer system according to the invention calculates how to arrange the predefined data capture path accordingly (in other words, the refinement of the route sequence) and / or how to select the corresponding setting parameters (for example, whether the predefined data capture path travels / crosses several times) in order to ensure the best and most efficient (time) data capture. Then the setting parameters determined by the computing unit can be obtained from window 13.

[0144] As an alternative or in addition to the above-described embodiments of the computer system according to the invention, the user can, for example, define the predefined data capture path by clicking on the corresponding road and / or define the setting parameters, for example, by entering the corresponding values. The user himself and the computing unit of the computer system according to the invention then calculate approximately how long the entire data capture process will take and what distance will be covered in total, where during the capture phase these calculations / estimates are continuously updated based on the remaining part of the plan.

[0145] In addition, traffic on the road, satellite availability, the number of kilometers to be covered, and / or the battery status of the data capture unit are also taken into account for the corresponding calculations.

[0146] Such an embodiment of the computer system according to the invention is particularly intended for experienced users who have precise ideas about how to accurately perform data capture in the corresponding environment, or for users who have to react to special situations regarding data capture.

[0147] Figure 4 A schematic view of the software interface 14 of the computer system according to the invention is shown, where the computing unit has defined two data capture paths 1 (marked with the numbers 1 and 2) in the environmental map 12 based on the user's input (for example, regarding the start and end points of data capture). The data capture unit installed in the vehicle has traveled almost the entire first predefined data capture path 1 (marked by the light gray path) and has thus captured almost all the data on the surrounding environment along the first predefined data capture path 1. After the user has steered the vehicle to the end of the first predefined data path 1, the user receives a corresponding navigation command from the computer system according to the invention, which guides the user to and along the second predefined data path 1. The navigation command can be transmitted to the user, for example, by an audio signal, which has the advantage that the user can fully concentrate on driving the vehicle on which the data capture unit is installed, thus ensuring the safety of the user and passers-by.

[0148] Figure 5A schematic diagram of a 3D model 10 of an environment generated based on data of the captured environment is shown.

[0149] Figure 6A and Figure 6B A schematic diagram of a workflow for capturing data using a computer-implemented method of a computer system according to the present invention accordingly is shown.

[0150] In Figure 6A , user 15 is walking and carrying a data capture unit 16, which is exemplarily configured as a laser scanner in his hand. User 15 carries another device (such as a tablet computer) in his hand, and this other device includes a computing unit 18. The computing unit 18 receives path information 19 about a predefined data capture path 1, in particular information about the start position 4 and the end position 6 of the predefined data capture path 1 and information about the current position 2 of the data capture unit 16. Based on this information, the computing unit 18 calculates a transfer path 3 from the current position 2 to the start position 4. Subsequently, the user is guided along the transfer path 3 by means of an acoustic navigation command 17, wherein based on the path information 19 and the continuously monitored position 2, it is continuously determined whether the data capture unit 16 has reached the start position 4. Due to the acoustic navigation command 17, user 15 can fully concentrate on walking and aligning the data capture unit 16, and the probability that user 15 walks wrongly or falls down is significantly reduced. Once the data capture unit 16 reaches the start position 4, a start command 20 is provided to the data capture unit 16, and the start command 20 causes the data capture unit 16 to capture data of the surrounding environment 5. Subsequently, an audible navigation command 17 is continuously provided to user 15 to guide user 15 to the end position 6 of the predefined data capture path 1, and once the data capture unit 16 has reached the end position 6, an end command 20 is provided to the data capture unit 16, so that the data capture unit 16 stops capturing data of the environment 5. Figure 6B In principle, the same workflow for capturing data by a computer-implemented method of a computer system according to the present invention accordingly is shown, wherein user 15 is now moving together with a vehicle 21 configured as a car, and a data capture unit 16 configured as a laser tracker is mounted on the roof of the car 21.

[0151] Although the above part illustrates the present invention with reference to some preferred embodiments, it must be understood that many modifications and combinations can be made to different features of the embodiments. All such modifications are within the scope of the appended claims.

Claims

1. A computer-implemented method for capturing data of an environment (5) by means of a data capture unit (16), wherein: The method comprises: Receiving path information (19) about a predefined data acquisition path (1), the path information (19) comprising at least coordinates of a plurality of points of the predefined data acquisition path (1), in particular GNSS coordinates; and Automates the navigation and data capture process, The navigation and data capture process includes: continuously monitoring the current position (2) of the data capture unit (16); calculating a transfer path (3, 3') from the current position (2) to a starting position (4) of the predefined data capture path (1); continuously providing navigation commands (17) to a user (15) to guide the user (15) along the transfer path (3, 3'); continuously determining whether the data capture unit (16) has reached the starting position (4) based on the path information (19) and the continuously monitored position (2); If the data capture unit (16) has reached the starting position (4), providing a start command (20) to the data capture unit (16), the start command (20) causing the data capture unit (16) to capture data of the surrounding environment (5); continuously providing navigation commands (17) to the user (15) to guide the user (15) to an end position (6) of the predefined data capture path (1); and If the data capture unit (16) has reached the end position (6), an end command (20) is provided to the data capture unit (16), the end command (20) causing the data capture unit (16) to end capturing data of the surrounding environment (5).

2. The computer-implemented method of claim 1 , wherein: The current position (2) of the data capture unit (16) is continuously monitored by at least one of: GNSS; SLAM; IMU; and odometer.

3. The computer-implemented method of claim 1 or 2, wherein: The method further comprises generating a 2D and / or 3D model (10), in particular a colored one, of the surroundings (5) by means of the data captured by the data capture unit (16).

4. A computer-implemented method according to any one of the preceding claims, wherein: The movement of the data capture unit (16) is provided by: The user (15) carries the data capture unit (16); or The data capture unit (16) is mounted on a transport device (21) controlled by the user (15), In particular, wherein the conveying device (21) is a vehicle, especially a car or motorcycle; Boat; aircraft; or Drone.

5. A computer-implemented method according to any one of the preceding claims, wherein: The data capture unit (16) comprises one or more laser scanners and / or one or more cameras and is configured to capture 3D point cloud data and / or image data of the surrounding environment (5).

6. A computer-implemented method according to any one of the preceding claims, wherein: The navigation commands (17) are continuously provided to the user (15) in the following manner: acoustically by means of an audio signal; tactilely by means of a vibration signal; and / or Visually with the aid of visualization on a display.

7. A computer-implemented method according to any one of the preceding claims, wherein: The method further comprises: if The user (15) leaves the predefined data capture path (1), in particular before reaching the end position (6) of the predefined data capture path (1); Obstacles interfere with or prevent data capture of the surrounding environment (5); and / or the user (15) is moving at a speed that does not allow data of the surroundings (5) to be captured with sufficient accuracy to enable generation of a 2D and / or 3D model (10), in particular a rendered model, of the surroundings (5), but providing a notification to the user (15); and / or providing an intermediate end command (20) to the data capture unit (16), wherein the intermediate end command (20) causes the data capture unit (16) to end capturing data of the surrounding environment (5); The position where the user (15) provides the intermediate end command (20) on the predefined data capture path (1) is defined as the intermediate end position (7).

8. The computer-implemented method of claim 7, wherein: The method further comprises: The user (15) is continuously provided with navigation commands (17) so as to If the user (15) leaves the predefined data capture path (1), guiding the user (15) back to the predefined data capture path (1); If an obstacle interferes with or prevents the data capture of the surrounding environment (5), guiding the user (15) past the obstacle along the predefined data capture path (1); If an intermediate end command (20) is provided, guiding the user (15) to the intermediate end position (7); and / or guiding the user (15) to a section (9) of the predefined data capture path (1) in which the surrounding environment (5) has not yet been captured, and An intermediate start command (20) is provided to the data capture unit (16), the intermediate start command (20) causing the data capture unit to start capturing data of the surrounding environment (5) in the following circumstances: If the user returns to the predefined data capture path (1); if the user has been directed past the obstacle; If the user now moves again at a speed that enables the data of the surroundings (5) to be captured with sufficient accuracy to generate a, in particular, colored, 2D and / or 3D model (10) of the surroundings (5); and / or If the user reaches the intermediate end position (7).

9. A computer-implemented method according to any one of the preceding claims, wherein: The method further comprises receiving information about the distance that has to be covered to traverse the predefined data capture path (1), in particular the distance from the starting position (4) to the ending position (6).

10. A computer-implemented method according to any one of the preceding claims, wherein: The method further comprises receiving information about the expected time required to traverse the predefined data capture path (1), in particular the time from the starting location (4) to the ending location (6).

11. A computer-implemented method according to any one of the preceding claims, wherein: The method also includes providing information about how a plurality of predefined data capture paths (1) can be arranged so that data of the surrounding environment (5) from which a particularly shaded 2D and / or 3D model (10) has to be generated is captured efficiently, in particular so that the shortest possible distance has to be covered and / or the shortest possible time is required.

12. A computer-implemented method according to any one of the preceding claims, wherein: The path information (19) includes the path of the predefined data capture path (1) within the environment map (12), wherein the environment map (12) is Land maps; Nautical charts; City map; Building plans; Satellite imagery; or Aerial photos.

13. A computer system for capturing data of a surrounding environment (5) by means of a data capture unit (16), in particular, wherein the system is configured to perform the computer-implemented method of any one of claims 1 to 12, the system comprising a computing unit (18) configured to: Receiving path information (19) about a predefined data acquisition path (1), the path information (19) comprising at least coordinates of a plurality of points of the predefined data acquisition path (1), in particular GNSS coordinates; as well as Automates the navigation and data capture process, in, The navigation and data capture process includes: continuously monitoring the current position (2) of the data capture unit (16); Calculating a transfer path (3) from the current position (2) to a starting position (4) of the predefined data capture path (1); continuously providing navigation commands (17) to the user (15) to guide the user (15) along the transfer path (3); continuously determining whether the data capture unit (16) has reached the starting position (4) based on the path information (19) and the continuously monitored position (2); If the data capture unit (16) has reached the starting position (4), providing a start command (20) to the data capture unit (16), the start command (20) causing the data capture unit (16) to capture data of the surrounding environment (5); continuously providing navigation commands (17) to the user (15) to guide the user (15) to an end position (6) of the predefined data capture path (1); and If the data capture unit (16) has reached the end position (6), an end command (20) is provided to the data capture unit (16), the end command (20) causing the data capture unit (16) to end capturing data of the surrounding environment (5).

14. A computer program product comprising a program code stored on a machine-readable medium or embodied by an electromagnetic wave comprising program code segments and having computer executable instructions for execution, in particular when run on a computing unit (18) of a computer system according to claim 13: Receiving path information (19) about a predefined data acquisition path (1), the path information (19) comprising at least coordinates of a plurality of points of the predefined data acquisition path (1), in particular GNSS coordinates; as well as Automates the navigation and data capture process, in, The navigation and data capture process includes: continuously monitoring the current position (2) of the data capture unit (16); Calculating a transfer path (3) from the current position (2) to a starting position (4) of the predefined data capture path (1); continuously providing navigation commands (17) to the user (15) to guide the user (15) along the transfer path (3); continuously determining whether the data capture unit (16) has reached the starting position (4) based on the path information (19) and the continuously monitored position (2); If the data capture unit (16) has reached the starting position (4), providing a start command (20) to the data capture unit (16), the start command (20) causing the data capture unit (16) to capture data of the surrounding environment (5); continuously providing navigation commands (17) to the user (15) to guide the user (15) to an end position (6) of the predefined data capture path (1); and If the data capture unit (16) has reached the end position (6), an end command (20) is provided to the data capture unit (16), the end command (20) causing the data capture unit (16) to end capturing data of the surrounding environment (5).

15. The computer program product of claim 14, wherein: The program code comprises computer executable instructions for performing any of the steps in the computer implemented method of one of claims 2 to 12.

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