3D Scanning Repositioning Accuracy via Laser Tracker Transformation
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Solution Overview
Problem
Optical trackers in three-dimensional scanning face challenges with reduced accuracy in repositioning expansion due to the displacement or improper arrangement of public marker points, leading to accumulated errors when scanning large volumes.
Innovation Solution
A method involving a target optical tracker and a laser tracker to measure target ball groups at multiple positions, determining a transformation matrix between their coordinate systems using high-precision laser tracker data, enabling accurate repositioning without relying on public marker points.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If public marker points are used for repositioning expansion, then the optical tracker can be repositioned to scan large volumes, but the accuracy of repositioning expansion is reduced due to marker displacement or improper arrangement
Solution Approach 1:
The patent introduces a laser tracker as an intermediary measurement device to establish a transformation matrix between different optical tracker positions. This intermediary system provides high-precision reference data that mediates the coordinate system transformation, replacing the unreliable public marker points while enabling large-volume scanning through multiple repositioning operations.
Solution Approach 2:
The patent replaces the mechanical marker-point-based repositioning system with an optical measurement system using laser tracker and coordinate transformation. This substitution eliminates the physical constraints and errors associated with marker points while maintaining the ability to reposition and expand the scanning volume.
2Volume of moving object
If multiple repositioning operations are performed for large volume scanning, then the scanning coverage is expanded, but errors accumulate with each repositioning operation
Solution Approach 1:
The patent implements a feedback mechanism where the laser tracker continuously measures the second target ball group at each repositioning operation. These measurements provide feedback data used to calculate transformation matrices that account for cumulative errors, allowing the system to maintain high accuracy across multiple repositioning operations by constantly referencing the stable laser tracker coordinate system.
3Measurement precision
If public marker points are densely arranged to improve repositioning accuracy, then the constraint on spatial position is strengthened, but the complexity of setup and the time required increase
Solution Approach 1:
The patent extracts the repositioning reference function from the public marker points and transfers it to the laser tracker measuring the second target ball group. This extraction eliminates the need for complex marker arrangements while maintaining high repositioning accuracy, as the laser tracker provides stable reference measurements without requiring dense marker distribution.
Data Source
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AI summary
Embodiments of the present disclosure relate to a method for processing three-dimensional scanning data, a three-dimensional scanning method, an apparatus, a device and a storage medium. The method includes acquiring a first coordinate set sequence obtained by a target optical tracker measuring a first target ball group when the target optical tracker is at a plurality of different target positions, a position of the first target ball group remaining unchanged; acquiring a second coordinate set sequence obtained by a laser tracker measuring a second target ball group when the target optical tracker is at the plurality of different target positions, a position of the laser tracker remaining unchanged, and a relative position of the second target ball group to the target optical tracker remaining unchanged; determining a target transformation matrix between a coordinate system of the target optical tracker and a coordinate system of the laser tracker based on the first coordinate set sequence and the second coordinate set sequence. According to the embodiments of the present disclosure, an accuracy of repositioning expansion can be improved.