Handheld Spatial Model Creation Using Visual Odometry and Laser Ranging
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Solution Overview
Problem
Current handheld distance measuring devices require preparation of the measuring environment with referencing means and are limited to measuring distances between points on the same plane, making them inefficient for creating a spatial model of complex environments without post-processing steps.
Innovation Solution
A handheld device equipped with a laser distance meter, camera, computing unit, and data storage, which captures images from different positions, determines relative camera poses, and calculates a three-dimensional geometry using Structure-from-Motion or Simultaneous Localization and Mapping algorithms, allowing for on-site creation of a spatial model without prior preparations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If referencing means are distributed in the measuring environment for determining device position, then position determination accuracy is improved, but preparation time and complexity increase
Solution Approach 1:
The patent removes the requirement for external referencing means by extracting the positioning function into the device itself through visual odometry. The system uses natural visual features in the environment rather than artificial references, eliminating preparation time while maintaining position determination accuracy through continuous visual tracking and pose estimation.
Solution Approach 2:
The device performs self-positioning using its own camera and visual processing capabilities. By implementing visual odometry algorithms that track visual features and estimate device pose autonomously, the system serves its own positioning needs without external references, reducing both preparation time and dependency on additional equipment.
2Measurement precision
If panoramic images are stitched together to measure distances between spatial points, then distance measurement capability is improved, but the method is limited to points on the same plane
Solution Approach 1:
The patent transitions from two-dimensional panoramic image analysis to three-dimensional spatial modeling by implementing structure from motion algorithms. These algorithms process sequences of images with known device poses to reconstruct three-dimensional point clouds and spatial models, enabling distance measurements between points in three-dimensional space rather than being confined to planar measurements.
3Measurement precision
If multiple images are captured and processed to create spatial models, then measurement accuracy is improved, but post-processing steps are required
Solution Approach 1:
The patent replaces traditional mechanical surveying methods with automated visual processing and computational algorithms. By using structure from motion and visual odometry algorithms that automatically process captured images to generate spatial models and measurements, the system eliminates manual post-processing steps while maintaining high measurement accuracy, enabling immediate on-site results.
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
Enables rapid, on-site creation of a spatial model with no need for referencing means, allowing for precise three-dimensional geometry and point cloud generation, applicable to complex environments with improved user comfort and efficiency.
Implementation Method 1
a laser beam is usually emitted and received again and analyzed after reflection on the target
Implementation Method 2
a laser beam is usually emitted and received again and analyzed after reflection on the target
Implementation Method 3
Various measurement principles are available for determining the distance in this case, for example, phase measurement or time-of-flight measurement
Implementation Method 4
images are recorded of the environment of the spatial points, which are joined together to form a single panoramic image
Data Source
Figure 1~2
Figure 3a~3c
Figure 4a~5c
AI summary
Method for creating a spatial model of a target object (3) with a hand-held distance measuring device (1), the device comprising a laser distance meter, a camera, a computing unit and a data storage device, the method comprising measuring with the laser distance meter one or more distances (50, 51, 52) to the target object from different positions, storing the measured distances in the data storage device, capturing with the camera a plurality of images (60, 61, 62) of the target object, wherein each of the measured distances is associated with one of the captured images, determining with the computing unit relative camera poses (70, 71, 72) for the plurality of images, and calculating with the computing unit based on the plurality of images and on the determined relative camera poses a three-dimensional geometry of the target object, characterized in that after the three-dimensional geometry has been calculated, the method further comprises retrieving at least one of the measured distances from the data storage device, and adding a scale to the three-dimensional geometry to obtain the spatial model of the target object, wherein the scale is calculated based on the at least one retrieved distance.