3D Coordinate Registration via Fixed Target Device
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Solution Overview
Problem
Existing 3D measurement systems face challenges in combining disparate data sets, such as laser scanner measurements with sonar or ground penetrating radar data, due to differences in frame of reference, resolution, and acquisition methods, making it a labor-intensive and manual process to create a comprehensive digital model of an environment.
Innovation Solution
A method and system for registering 3D coordinates from multiple measurement devices, including a target device with a retaining element that allows different devices to be attached in a fixed relationship, enabling the transformation and combination of data from various measurement devices, like laser scanners, sonar, and ground penetrating radar, into a unified 3D model in a common coordinate frame.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple measurement devices (laser scanner, sonar, ground penetrating radar) are used to create a comprehensive digital model, then the completeness and accuracy of the environment model is improved, but the complexity of combining and registering the disparate data sets increases
Solution Approach 1:
A common coordinate frame of reference serves as an intermediary that mediates between multiple measurement devices operating in different coordinate systems. The system transforms sonar and ground penetrating radar coordinates into the laser scanner's coordinate system through mathematical transformations, enabling seamless integration without direct complex interactions between disparate measurement systems
Solution Approach 2:
The comprehensive environment model is segmented into distinct data sets from different measurement devices (laser scanner data, sonar data, ground penetrating radar data). Each data set is processed and registered separately into the common coordinate frame, allowing manageable handling of complex multi-source data through systematic division
2Adaptability or versatility
If manual methods are used to combine disparate data sets with different frames of reference and resolutions, then flexibility in handling different data types is maintained, but the time and labor required increases significantly
Solution Approach 1:
Manual mechanical processes of aligning and registering data sets are replaced with automated computational methods. The system uses coordinate transformation algorithms and registration techniques to automatically integrate data from multiple sources, eliminating the need for manual manipulation while maintaining adaptability to different data types through software-based processing
3Loss of information
If data from different measurement devices is combined in a common coordinate frame, then a unified comprehensive model is achieved, but the difficulty of detecting and measuring due to different resolutions and acquisition methods increases
Solution Approach 1:
The system transforms and standardizes parameters from different measurement devices to a common coordinate frame. By changing the coordinate system parameters and applying resolution normalization techniques, the system enables unified processing of data with originally different resolutions and acquisition characteristics, reducing the difficulty of integration
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enables the automated or semi-automated combination of 3D coordinate models from different measurement devices, providing a more complete and accurate digital twin of an environment, including both above-ground and subterranean structures, facilitating better planning and visualization.
Implementation Method 1
Based on the time it takes the light beam to travel to the surface and back allows the 3D scanner to determine the distance to the surface
Implementation Method 2
The 3D scanners include sensors, such as rotary encoders for example, that determine the direction the beam of light was emitted
Data Source
AI summary
According to one aspect of the disclosure a method for generating a three-dimensional model of an environment is provided. The method includes acquiring a first plurality of 3D coordinates of surfaces in the environment in a first coordinate frame of reference using a first measurement device, the first plurality of 3D coordinates including at least one subset of 3D coordinates of a target, the first measurement device optically measuring the plurality of 3D coordinates. A second plurality of 3D coordinates of the environment are acquired in a second frame of reference using a second measurement device, the second measurement device being operably disposed in a fixed relationship to the target. The second plurality of 3D coordinates with the first plurality of 3D coordinates are registered in the first coordinate frame of reference based at least in part on the at least one subset of 3D coordinates and the fixed relationship.