Reality capture device for fixed and handheld reality capture

Abstract

Reality capture device for fixed and handheld reality capture. The invention relates to a reality capture device for generating a digital representation of an environment. The device comprises a laser scanner configured to perform a scanning movement of a laser measurement beam. The reality capture device comprises an upper part and a lower part. The upper part comprises the laser scanner and an imaging device. The upper part is fixed on the lower part such that the upper part is rotatable about a support rotation axis. The reality capture device is configured to have two scanning modes. In a stationary scanning mode, the upper part is rotated about the support rotation axis relative to the lower part and the laser scanner is set to move the measurement beam relative to only one of its two rotation axes. In a dynamic scanning mode, the laser scanner is set such that the measurement beam is moved relative to both rotation axes, while the upper part is configured to be fixed on the support rotation axis such that it is not rotated about the support rotation axis relative to the lower part.

Description

Technical Field

[0001] The present invention relates to a digital three-dimensional representation of an environment, particularly a reality capture device for surveying and / or detecting objects within an infrastructure. Background Technology

[0002] For example, craftsmen and architects are very interested in three-dimensional measurements of rooms and environments because this allows for the rapid capture of the actual condition of a room or construction site and / or the progress of construction, so that pending work can be scheduled. With the help of digital visualization of the actual condition (e.g., in the form of point cloud or vector file models) or with the help of augmented reality capabilities, different or extended options for further steps can be examined and optionally presented to employees or clients in an easily accessible manner.

[0003] The environment can be optically scanned and measured using a laser scanner. A common approach to this involves scanning the environment with the aid of pulsed electromagnetic radiation (e.g., a laser), where echoes are received from backscattering surface points in the environment, and the distance to the surface points is derived, for example, based on the propagation time, shape, and / or phase of the pulse, and in each case, associated with the spatial location of the surface points, for example, using angular information at the time of measurement and using the known location of the laser scanner.

[0004] Therefore, multiple measurement points can be recorded and spatially measured using at least one rotating beam deflection element (e.g., a plane mirror tilted about the axis of rotation) to alter the alignment of the emission direction of the range measurement beam. The desired point-to-point resolution is achieved by adjusting the pulse rate of the range measurement beam and / or by adjusting the rotational speed of the beam deflection element. The environment can then be analyzed and / or displayed in different ways based on the multiple measurement points using common data processing steps and / or display methods, particularly as a 3D point cloud.

[0005] Typically, scanning laser scanners have one or two mutually orthogonal axes of rotation, such as a vertical axis of rotation (often called the "azimuth axis" or "slow axis") for the relatively slow rotation of the entire laser scanner, and a horizontal axis of rotation perpendicular to it for the high-speed rotation of the beam deflection elements. Due to the high rotational speed of the beam deflection elements that are frequently used, the second axis is also referred to as the "fast axis" or "pitch axis".

[0006] For additional information, laser scanner data can be combined with camera data, especially high-resolution spectral information provided by, for example, RGB or infrared cameras.

[0007] In some cases, the distance measurement module used in laser scanners for spatial measurements has intensity sensitivity but no color sensitivity. This means that the generated 3D point cloud can be displayed in grayscale without the need for additional data. A "colorful" 3D point cloud can be generated, for example, using a reference to a "grayscale" 3D point cloud with RGB data from a color camera, making its display, for example, quite easy for the human eye. References to different data and datasets, such as data and datasets from measurement processes that vary in time and space, are becoming increasingly standardized.

[0008] Laser scanners can also be designed with position and orientation systems, such as by means of inertial systems, tilt sensors, or receivers used in global satellite navigation systems, where local sensing data is automatically referenced using a global 3D coordinate system.

[0009] Typically, reality capture devices are configured to autonomously create 3D maps of the new environment, for example, using simultaneous localization and mapping (SLAM) capabilities. The 3D model data can then be analyzed using feature recognition algorithms to automatically identify semantic and / or geometric features captured from the probe data, such as shape information provided by virtual object data from CAD models. This feature recognition (particularly for identifying geometric primitives) is now widely used in 3D data analysis.

[0010] In many cases, the laser scanner is positioned statically during the measurement process. The absolute location of the point measurement can then be determined using the aforementioned position and orientation system. Typically, the laser scanner is thus fixedly positioned within the scene. Depending on the size and complexity of the environment to be captured (e.g., due to obstacles and occlusion), multiple repetitions of the measurement process may be necessary to capture a complete environment with sufficient coverage. The data captured by multiple measurements during the workflow (such as point cloud data) needs to be combined to provide a complete model of the environment. In the case of point cloud data, this process is often referred to as “point set registration” or “point cloud registration.” This registration can be a computationally expensive and complex task. Furthermore, the measurement activity can be very time-consuming and labor-intensive, as the equipment must be moved and set up multiple times, and each measurement process may take several minutes. Even if the process can be optimized through ideal selection of the measurement location, the entire measurement activity to capture the environment may require a significant amount of manual labor.

[0011] In other cases, the reality capture device can be mobile and configured to simultaneously provide survey and reference data. For example, at least the device's trajectory data (e.g., position and / or attitude data) is provided with probe data (e.g., laser scanner data and / or camera data), allowing probe data from different locations of the reality capture device to be combined into a common coordinate system. The advantage of this is that measurement activities can be performed in a considerably shorter time compared to stationary devices. However, this typically comes at the cost of lower resolution and / or data quality.

[0012] Note that in other cases, image capture and laser measurement are typically performed sequentially. Otherwise, movement of the camera used to capture images or video can cause motion blur or other unwanted phenomena. Rapid movement or insufficient lighting, in particular, can exacerbate this effect. Therefore, due to the sequential capture of images and laser scanning measurements, the scanning process may take longer and may be limited to well-lit scenes.

[0013] The purpose of this invention

[0014] In view of the above, the object of the present invention is to provide improved reality capture with a device that allows for hybrid operation, making both static and dynamic utilization possible.

[0015] Further development of the features of the invention in an alternative or advantageous manner can be found in some other features of the independent and dependent claims. Summary of the Invention

[0016] One aspect of the invention relates to a reality capture device for generating a digital representation of an environment. The reality capture device includes a laser scanner configured to perform scanning movement of a laser measurement beam relative to two rotation axes, and based on this scanning movement, to generate light detection and ranging data for generating a three-dimensional point cloud. Furthermore, it includes an imaging device for recording image data, particularly at least one color camera.

[0017] According to this aspect of the invention, the reality capture device comprises an upper part and a lower part. A laser scanner and an imaging device are included in the upper part and arranged such that scanning movement of the laser measuring beam is provided relative to the upper part. The imaging device is fixedly arranged on the upper part. The upper part is fixed on the lower part such that the upper part can rotate about a support axis. The reality capture device is configured to have two scanning modes: a static scanning mode and a dynamic scanning mode. In the static scanning mode, the upper part rotates relative to the base about a support axis, and the laser scanner is configured to move the measuring beam only relative to one of its two rotation axes. In the dynamic scanning mode, the laser scanner is configured to move the measuring beam relative to both rotation axes, while the upper part is configured to be fixed on the support axis such that it does not rotate relative to the lower part about a support axis.

[0018] The terms azimuth axis and pitch axis are used herein to describe two axes orthogonal to each other, wherein the azimuth axis is primarily vertically oriented and the pitch axis is primarily horizontally oriented. However, it should be noted that these terms are for naming purposes only, and the two axes may not maintain the same orientation during operation.

[0019] Note that the terms "upper part" and "lower part" are used only as a naming convention, and it is not mandatory for the upper part to be arranged above the lower part. Implementations or arrangements where the upper part is located below the lower part or on the side of the lower part are also possible.

[0020] The imaging device is fixedly mounted on the upper part and moves together with the upper part. The imaging device may include a 2D sensor. Some embodiments may include a 3D sensor, such as a time-of-flight camera.

[0021] In some embodiments of the invention, the reality capture device is configured to have a third scanning mode. The third scanning mode may include rotation of the upper portion relative to the lower portion about a rotation axis of the support, and the laser scanner is configured such that the measuring beam moves relative to both rotation axes. In some embodiments, the measuring beam may be moved such that the rotation of the upper portion relative to the lower portion is at least partially compensated.

[0022] In other words, based on two completely independent axes, drivers, and angle encoders, the azimuth axis and the support rotation axis can move independently of each other. The rotation of the upper part about the support rotation axis can be fully compensated by the azimuth axis. Therefore, the measuring beam remains unaffected in the azimuth direction. Thus, the imaging device, which can be fixedly arranged on the upper part, can rotate about the support axis, while the measuring beam of the laser scanner remains substantially unaffected due to the rotational compensation. The movement of the measuring beam, in addition to the compensating movement, allows the same scanning pattern to be transmitted to operations without rotating the upper part, but simultaneously, the upper part rotates, allowing image capture.

[0023] Existing devices typically record point cloud data and images one after another. A well-known improvement to this is video mode, which allows images to be captured simultaneously during scanning. However, this introduces the drawback of motion blur, especially in dimly lit environments. Therefore, its use is limited to bright environments, and HDR recording is simply not possible. As mentioned above, a third scanning mode enables rapid scanning, including the simultaneous generation of point cloud data and panoramic images, which overcomes these limitations.

[0024] In some embodiments, the laser scanner can be configured such that the measuring beam moves with respect to the scanning pattern. Note that, particularly for better accuracy, the movement of the measuring beam is primarily affected by movement about the two rotational axes of the laser scanner. In embodiments including a third scanning mode, the laser scanner can be configured such that the scanning pattern of the measuring beam is unaffected by the rotation of the upper portion about the axis of rotation of the support. This rotation may not be stable, but rather, for example, a stop-and-forward motion, wherein the rotation of the upper portion may stop when the imaging device is set to capture an image in order to reduce unwanted effects such as motion blur. Without compensating for the rotation of the upper portion for the movement of the measuring beam, the scanning pattern of the measuring beam will be distorted because the laser scanner is comprised of the upper portion. Therefore, even if the upper portion may rotate irregularly, the laser scanner can be configured to provide a stable rotation of the measuring beam to achieve the scanning pattern.

[0025] In some embodiments of the invention, the reality capture device may include one or more time frames during which the function described by one of the scan modes is active. In other words, when the reality capture device is turned on, the function of the active scan mode may not always be active, but may be active for one or more time frames.

[0026] In some embodiments of the invention, the laser scanner includes a base, an aidade, and a rotating body. The aidade can be configured to rotate about one of the two rotation axes of the laser scanner (azimuth axis). Furthermore, the rotating body can be mounted on the aidade and configured to rotate relative to the aidade about the other of the two rotation axes of the laser scanner (elevation axis). The azimuth axis and the elevation axis can be orthogonal to each other. The laser scanner can be configured such that the rotating body is used to deflect the laser measurement beam from the aidade.

[0027] The generation of LIDAR data may include continuous rotation of the rotating body relative to the upper part, and for a stationary scan mode, continuous rotation of the upper part relative to the lower part. The generation of LIDAR data may also include emitting a laser measurement beam via a continuously rotating laser scanner, and detecting a portion of the laser measurement beam returning via the rotating body.

[0028] According to some embodiments of the present invention, the azimuth axis may be parallel to the axis of rotation of the support member. In some embodiments, the azimuth axis may be coaxial with the axis of rotation of the support member. The imaging device may include a plurality of cameras, wherein the cameras are oriented to have a lateral viewing direction, particularly orthogonal to the axis of rotation of the support member. In some embodiments, the imaging device may include a wide-angle camera. In some embodiments, the imaging device may include a fisheye camera.

[0029] According to some embodiments of the present invention, the rotational frequencies of the rotating body about the pitch rotation axis and the azimuth rotation axis, as well as the rotational frequency of the upper part about the support member rotation axis, can depend on the scanning mode. In some embodiments, in a static scanning mode, the rotational speed of the upper part about the support member rotation axis may be relatively slower compared to the rotational speed of the rotating body about the azimuth axis in a dynamic scanning mode. In some embodiments, the rotational speed of the upper part about the support member rotation axis may be less than half the rotational speed of the pitch axis.

[0030] According to some embodiments of the invention, the lower portion may include an interface configured to connect to a mating object. In some embodiments, the mating object may be specifically implemented as part of a tripod.

[0031] According to some embodiments, the present invention may also include a base station. The base station may include a pair, wherein the interface may be configured to provide transmission of at least one of electrical signals, optical signals, electrical energy, and thermoelectric current between the base station and a lower and / or upper part. In some embodiments, the base station may be specifically implemented as part of a tripod.

[0032] According to some embodiments, the device may further include a first power supply and a second power supply. The first power supply may be included in the upper or lower part, and the second power supply may be included in the base station. In some embodiments, the second power supply may have a larger capacity than the first power supply.

[0033] According to some embodiments, the device may further include a first processing unit and a second processing unit. The first processing unit may be included in the upper or lower part, and the second processing unit may be included in the base station. In some embodiments, the second processing unit may include more processing capabilities than the first processing unit.

[0034] According to some embodiments, the device may include a data transmission means, such as a wired or wireless transmission means. In some embodiments, the data transmission means may be included by a base station. In further embodiments, the data transmission means may include at least one of a wireless transmission module, a wired transmission module, or an optical transmission module.

[0035] According to some embodiments, the apparatus may further include a thermal control device. In some embodiments, at least a portion of the thermal control device may be included by a base station, and the reality capture device may be configured such that when the reality capture device is connected to the base station via an interface, at least a portion of the reality capture device is thermally controlled and / or the thermal control device region operates at a higher intensity for a static scanning mode.

[0036] According to some implementations, the device can be configured to transmit data and / or power between the base station and the substation via an interface. In some implementations, transmission can be initiated automatically after the base station is connected to the base station.

[0037] According to some embodiments, the device may include a handle for carrying by a mobile carrier. The handle may be detachably mounted on the lower part or interface. In some embodiments, the handle may be magnetically detachable and / or include an additional power source.

[0038] According to some embodiments, the device may include a dome mounted on the upper part, such that the dome and the upper part surround all moving parts of the laser scanner, making no moving parts touchable from the outside. In some embodiments, the dome may be opaque to visible light.

[0039] According to some embodiments, at least a portion of the imaging apparatus may be included by a dome. In some embodiments, at least one color camera may be included by a dome.

[0040] According to some embodiments, the central reference point of the laser scanner can be defined as the origin for distance and angle measurements. The origin can be specified by the intersection of the azimuth rotation axis and the pitch rotation axis. Furthermore, at least a portion of the imaging device can be arranged such that its optical axis virtually extends rearward through the central reference point. In some embodiments, at least one color camera can be arranged such that its optical axis virtually extends rearward through the central reference point.

[0041] In other words, at least a portion of the imaging device can be fixedly arranged on the upper part, particularly on the dome, and the optical axis of the surface sensor extends virtually backward through the central reference point. Furthermore, the imaging device has a stationary field of view relative to and facing away from the upper part, meaning that the sensor's field of view changes only during the measurement process if the upper part moves (especially if the upper part rotates about the axis of rotation of the support) or if the operator carries a laser scanner.

[0042] One implementation involves, for example, the fact that multiple color cameras are arranged on the upper part, particularly on the dome, wherein, for at least a portion of the color cameras, the virtual rearward extension of their optical axes passes substantially through the central reference point.

[0043] According to some embodiments, the laser scanner may also include a reference element. The reference element may be configured to provide at least one of a defined distance, reflectance intensity, or contrast value relative to the laser scanner.

[0044] According to some implementations, a laser scanner can be configured to perform scanning movement in such a way that the measuring beam passes through a reference element during a complete rotation about at least one of the two rotation axes.

[0045] According to some embodiments, the device may further include a positioning unit and may be configured to generate positioning data for determining the trajectory of the real-world capture device. In some embodiments, the positioning unit may include an inertial measurement unit. In further embodiments, the positioning unit may be attached to an upper or lower part. In other embodiments, the trajectory may be determined during a dynamic scanning mode.

[0046] According to some implementations, the processing device can be configured to perform a simultaneous localization and mapping (SLT) algorithm. In some implementations, the SLT algorithm may include a lidar-based SLT algorithm and / or a vision-based SLT algorithm.

[0047] According to some implementations, the reality capture device can be configured to provide instructions to a mobile carrier. In some implementations, the instructions may include navigation information or direction.

[0048] According to some implementations, the reality capture device can be configured to provide data registration when capturing data from more than one operating mode. Attached Figure Description

[0049] The invention will now be described or explained in more detail by way of example only, with reference to the schematic examples shown in the accompanying drawings. In the drawings, the same elements are labeled with the same reference numerals. The described embodiments are generally not shown to scale and should not be construed as limiting the invention. Specifically, Figure 1 : Figure 1 An embodiment of a reality capture device including an upper and a lower part is shown, wherein the upper part includes an imaging device and a laser scanner; Figures 2a-2d : Figure 2a , Figure 2b and Figure 2c Another embodiment of the invention is shown, and the actual capture device may also include an interface for connection to a pair, while Figure 2d The reality capture device depicted includes, in some embodiments, a handle detachably attached to the upper part; Figure 3 : Figure 3The mobile operation mode is shown. Figure 2c Reality capture equipment; Figure 4 : Figure 4 The image shows the static operation mode. Figure 2b Reality capture equipment; Figure 5 : Figure 5 A reality capture device is shown, which is specifically implemented such that a portion of the imaging device is included within a dome; and Figure 6 : Figure 6 A realistic capture device is shown placed on a structure in the environment. Detailed Implementation

[0050] Figure 1 An embodiment of a reality capture device 1, including an upper part 8 and a lower part 9, is shown. The upper part 8 also includes a laser scanner 3 and an imaging device 7. In this exemplary embodiment, the laser scanner 3 is shown to be covered by a dome 18.

[0051] The laser scanner 1 according to the invention is configured to perform scanning movement relative to two rotation axes 5 and 6. Therefore, these axes are arranged orthogonally to each other. Thus, a three-dimensional point cloud can be generated.

[0052] The upper part 8 is rotatably fixed to the lower part 9, allowing it to rotate about the axis of rotation 10 of the support member. When the imaging device 7 is included by the upper part 8, it rotates together with the upper part 8 about the axis of rotation.

[0053] Figures 2a to 2d It shows Figure 1 Reality capture devices, while Figure 2a , Figure 2b and Figure 2c The device also includes an interface 14. In these exemplary embodiments, interface 14 is configured to connect to a mating object 15. Figure 2a and Figure 2b In this context, the mating element 15 is specifically implemented as part of a tripod that can be used for the static operation of the device. Figure 2c In this context, the mating object can be specifically implemented as part of the handle 17, such that it can be carried by the moving carrier 18, for example, during the dynamic operation of the device.

[0054] Such exemplary embodiments may also include a pair 15 included by the base station. In some embodiments, the base station may be configured to further include a second power supply, a second processing device, a data transmission device, and / or a thermal control device.

[0055] Figure 2dA real capture device 1 including a magnetically detachable handle 17 is shown. In this embodiment, when the handle is attached to the upper part 8 of the device, the handle can rotate with the device as the upper part 8 rotates about the rotation axis 10 of the support member.

[0056] Figure 3 A mobile carrier carrying the reality capture device 1 in dynamic mode is shown. In dynamic scanning mode, the laser scanner is configured such that the measuring beam moves relative to the two rotation axes 5 and 6, while the upper part 8 is fixed on the support axis 10.

[0057] In the third scanning mode, the reality capture device 1 can be configured such that the upper part 8 rotates about the rotation axis 10 of the support member. This has the following effect: the imaging device included in the upper part rotates, and images can be captured in a 360-degree field of view.

[0058] Furthermore, the laser scanner is configured such that the azimuth rotation axis 5 of the laser scanner (at least partially) compensates for the rotation of the upper part about the rotation axis of the support. Additionally, the laser scanner is configured such that the measuring beam 4 moves relative to the two rotation axes 5 and 6. Figure 3 As shown, this configuration allows the operator 18 to carry the reality capture device 1 according to the invention and capture images using the imaging device, while simultaneously performing measurements using a laser scanner. This allows for relatively short measurement activities because there is no need to set up a fixed scanning or imaging station.

[0059] Figure 4 The following is a diagram showing the basis that may be used during static operation. Figure 2b The reality capture device 1 is thus connected to a paired object via an interface and is located in the environment 2 to be captured. During the stationary scanning process, the upper part is configured to rotate about the support rotation axis 10. The laser scanner is configured such that the measuring beam rotates only about one of the two rotation axes (specifically the pitch axis 6). Due to the rotation of the upper part about the support rotation axis 10, the imaging device is rotated and a 360-degree field of view of the environment can be imaged. In addition, since the laser scanner is also included by the upper part, the laser scanner also rotates about the support axis, which is coaxial with the azimuth axis. With the laser scanner configured to move the measuring beam about one of the two rotation axes (specifically the pitch axis), the laser measuring beam is moved in combination, so that the environment can be measured in three dimensions.

[0060] Figure 5A reality capture device 1 is shown, comprising a portion of an imaging apparatus 7 arranged on a dome 18, specifically a camera. In this embodiment, the portion of the imaging apparatus 7 is arranged such that it virtually extends rearward through a central reference point 19 of a laser scanner, which defines the origin for distance and angle measurements. The position of the central reference point is specified by the intersection of the azimuth rotation axis and the elevation rotation axis.

[0061] This embodiment of the invention also includes a reference element 21. The reference element provides at least one of a defined distance, reflectance intensity, or contrast value relative to the laser scanner. The laser scanner is configured to perform scanning movement such that it passes the reference element when fully rotated about one of two rotation axes (azimuth axis and pitch axis). The reality capture device is also configured to calibrate and / or adapt distance measurements based on measurements from the reference element.

[0062] In another embodiment of the invention, the reality capture device may include a user interface 20 configured to visualize data. In some embodiments, the user interface includes an electronic visual display, such as that included by a tablet computer.

[0063] In some implementations, the user interface may be permanently attached to the reality capture device, while in others, it may be detachably mounted to the reality capture device. For example, the user interface may be attached to the handle of the device.

[0064] In other embodiments, the reality capture device may also include a transmitting means configured to send data to a user interface. For example, the reality capture device may include a wireless transmission means to wirelessly transmit data to a user interface, such as a tablet computer.

[0065] In some implementations, the user interface is configured to visualize image data captured by the imaging device, particularly in real time. In further implementations, the user interface may be configured to visualize a subset of the data in a highlighted manner. In other words, the user interface may be configured to visualize portions of the environment that have already been captured by the imaging device or laser scanner. In more specific implementations, the user interface may be configured to provide instructions to a mobile vehicle. For example, these instructions may include navigation instructions for the mobile vehicle to ensure that the environment is scanned with satisfactory coverage.

[0066] Figure 6 A reality capture device located on a structure in the environment is depicted. In some embodiments, the reality capture device may receive processing instructions via a transmission device such as a wireless signal.

[0067] Although the invention has been described above with reference to some preferred embodiments, it should be understood that many modifications and combinations of different features of the embodiments can be made. All such modifications are within the scope of the appended claims.

Claims

1. A reality capture device (1) for generating a digital representation of an environment (2), the reality capture device comprising: A laser scanner (3) is configured to perform scanning movement of a laser measurement beam (4) relative to two rotation axes (5, 6), and based on said scanning movement, generate photodetection and ranging data for generating a three-dimensional point cloud. Imaging device (7), particularly at least one color camera, for recording image data, Its features The reality capture device includes an upper part (8) and a lower part (9), wherein The laser scanner (3) and the imaging device (7) are included by the upper part (8) and are arranged such that the laser measuring beam (4) is provided for scanning relative to the upper part (8), while the imaging device (7) is fixedly arranged on the upper part (8). The upper part (8) is fixed to the lower part (9) so that the upper part can rotate about the rotation axis (10) of the support member, and The reality capture device is configured to have two scanning modes: a static scanning mode and a dynamic scanning mode. In the static scanning mode, the upper part rotates relative to the lower part about the axis of rotation of the support, and the laser scanner is configured such that the measuring beam moves only relative to one of its two axes of rotation. In the dynamic scanning mode, the laser scanner is configured such that the measuring beam (4) moves relative to both of the two rotation axes (5, 6), while the upper part (8) is configured to be fixed on the rotation axis (10) of the support member, such that the upper part does not rotate relative to the lower part (9) about the rotation axis (10) of the support member.

2. The reality capture device (1) according to claim 1, wherein, The reality capture device (1) is configured to have a third scanning mode, wherein, in the third scanning mode, the upper part (8) rotates relative to the lower part (9) about the rotation axis (10) of the support, and the laser scanner is configured such that the measuring beam (4) moves relative to both of the two rotation axes (5, 6), particularly wherein The measurement beam (4) moves such that the rotation of the upper part (8) relative to the lower part (9) is at least partially compensated, and / or The imaging device (7) is configured to record image data while moving the measuring beam (4).

3. The reality capture device (1) according to claim 1 or 2. in, The laser scanner includes Base (11) The aiming device (12) is configured to rotate about one of the two rotation axes (5, 6) of the laser scanner (3), namely, the azimuth axis (5), and A rotating body (13) is mounted on the aiming device (12) and configured to rotate relative to the aiming device (12) about the other of the two rotation axes (5, 6) of the laser scanner (3), namely, the pitch axis (6), wherein the azimuth axis (5) and the pitch axis (6) are orthogonal to each other. The laser scanner (3) is configured such that the rotating body (13) is configured to deflect the laser measuring beam (4) from the aiming device (12), and in particular, The azimuth axis (5) is parallel to, and in particular coaxial with, the rotation axis (10) of the support. The imaging device (7) includes a plurality of cameras, wherein the cameras are oriented to have a lateral viewing direction, particularly orthogonal to the rotation axis (10) of the support member, and / or The cameras mentioned include wide-angle cameras, particularly fisheye cameras.

4. The reality capture device (1) according to claim 3, wherein, The rotational frequencies of the rotating body (13) around the pitch rotation axis (6) and the azimuth rotation axis (5), and the rotational frequencies of the upper part (8) around the support rotation axis (10), depend on the scanning mode. In particular, in the static scanning mode, the rotational speed of the upper part (8) around the support rotation axis (10) is relatively slower than the rotational speed of the rotating body (13) around the azimuth axis (5) in the dynamic scanning mode, and is in particular less than half the rotational speed of the pitch axis (6).

5. The reality capture device (1) according to any one of the preceding claims, wherein, The lower part (9) includes an interface (14) configured to connect to a pair (15), wherein the pair (15) is specifically implemented as part of a tripod, wherein the reality capture device (1) further includes a base station, wherein the base station is specifically implemented as part of a tripod, the base station including the pair (15), wherein the interface (14) is configured to provide transmission of at least one of electrical signals, optical signals, electrical energy, and thermocurrent between the base station and the lower part (9) and / or the upper part (8).

6. The reality capture device (1) according to claim 5, wherein the reality capture device further comprises at least one of the following: First power supply and second power supply, wherein... The first power supply is included by the upper part (8) or the lower part (9), and the second power supply is included by the base station, wherein, in particular, the second power supply has a larger capacity than the first power supply. A first processing device and a second processing device, wherein the first processing device is included by the upper part (8) or the lower part (9), and the second processing device is included by the base station, wherein the second processing device includes more processing capacity than the first processing device.

7. The reality capture device (1) according to claim 5 or 6, wherein, The reality capture device includes a data transmission device (16), such as a wired or wireless transmission device, particularly wherein, if applicable, the data transmission device is included by the base station, and more particularly wherein the data transmission device includes at least one of a wireless transmission module, a wired transmission module, or an optical transmission module.

8. The reality capture device (1) according to any one of claims 5 to 7, wherein, The reality capture device further includes a thermal control device, and in particular, wherein, if applicable, at least a portion of the thermal control device is included by the base station, and the reality capture device is configured such that when the reality capture device is connected to the base station via the interface (14), at least a portion of the reality capture device (1) is thermally controlled and / or the thermal control device area operates at a higher intensity for the static scanning mode.

9. The reality capture device (1) according to any one of claims 5 to 8, wherein, The device is configured to transmit data and / or energy between the lower part (9) and the base station via the interface (14), and in particular, the transmission is automatically initiated after the base station is connected to the base station.

10. The reality capture device (1) according to any one of claims 5 to 9, wherein, The reality capture device (1) includes a handle (17) for carrying by a mobile carrier (18), wherein the handle (17) is detachably mounted on the lower part (9) or the interface (14), and in particular, wherein the handle (17) is magnetically detachable, and / or wherein the handle (17) includes an additional power source.

11. The reality capture device (1) according to any one of the preceding claims, the reality capture device comprising a dome (18) mounted on the upper portion (8) such that the dome (18) and the upper portion (8) surround all moving parts of the laser scanner (3) such that no moving part is externally touchable, particularly wherein The dome (18) is opaque to visible light, and / or At least a portion of the imaging device (7), particularly at least one color camera, is included by the dome (18).

12. The reality capture device (1) according to any one of the preceding claims, wherein, The central reference point of the laser scanner is defined as the origin for distance and angle measurements at the intersection of the azimuth rotation axis and the pitch rotation axis. In particular, at least a portion of the imaging device, and more particularly the at least one color camera, is arranged such that the virtual rearward extension of its optical axis passes through the central reference point.

13. The reality capture device (1) according to any one of the preceding claims, wherein, The laser scanner further includes a reference element (21), wherein the reference element is configured to provide at least one of a defined distance, a reflection intensity, and a contrast value relative to the laser scanner, and in particular, wherein the laser scanner (3) is configured to perform scanning movement of the laser measuring beam (4) in such a way that the measuring beam passes through the reference element during a complete rotation about at least one of the two rotation axes (5, 6).

14. The reality capture device (1) according to any one of the preceding claims, the reality capture device comprising a positioning unit, particularly wherein, The positioning unit includes an inertial measurement unit and is configured to generate positioning data for determining the trajectory of the reality capture device, particularly wherein... The positioning unit is attached to the upper part or the lower part. During the dynamic scanning mode, the trajectory is determined, and / or The first processing device and the second processing device are configured to perform simultaneous localization and mapping algorithms, particularly simultaneous localization and mapping algorithms based on lidar and / or simultaneous localization and mapping algorithms based on vision.

15. The reality capture device (1) according to any one of the preceding claims, wherein, The reality capture device is configured to provide Instructions directed to a mobile vehicle, particularly wherein the instructions include navigation information or direction, and / or Data registration when capturing data from more than one operating mode, especially point cloud data.

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