Mobile 3D Scanner Trajectory Tracking via Image Processing
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Solution Overview
Problem
Existing 3D laser scanner systems require time-consuming manual procedures for setting up and programming the path for mobile measurement devices, which limits efficiency in scanning and data collection.
Innovation Solution
A system comprising a mobile computing device and a mobile 3D measurement device that allows for the definition and transmission of a trajectory and scan points, enabling the mobile 3D measurement device to autonomously move and perform scans, with the mobile device tracking its position and pose using camera images and sensors to reduce setup time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If manual procedures are used for setting up and programming the path for mobile measurement devices, then the system can perform accurate 3D scanning measurements, but the setup time and programming time are excessively long
Solution Approach 1:
The system uses a mobile computing device to capture images and create a digital representation (copy) of the physical environment. This digital model is then used to define the trajectory and scan points, eliminating the need for manual path programming while maintaining measurement accuracy.
Solution Approach 2:
The patent replaces manual mechanical path programming with an automated image-based system. The mobile computing device captures images, processes them to identify features, and automatically generates the measurement trajectory, substituting manual operations with automated computational processes.
2Productivity
If manual procedures are used for setting up and programming the path for mobile measurement devices, then the system can perform accurate 3D scanning measurements, but the scanning efficiency is reduced
Solution Approach 1:
The system performs preliminary actions by capturing images and defining the trajectory before the actual 3D scanning begins. The mobile computing device pre-processes the environment data, identifies scan points, and establishes the measurement path in advance, so that the mobile 3D measurement device can execute scans efficiently without delays.
Solution Approach 2:
The mobile computing device serves itself by autonomously capturing images, processing the data, and generating the trajectory without requiring external manual intervention. This self-service capability eliminates programming time and improves scanning efficiency.
3Measurement precision
If a mobile 3D measurement device is used to scan objects, then the system can collect 3D coordinate data, but the device requires time-consuming manual path programming
Solution Approach 1:
The mobile computing device acts as an intermediary between the physical environment and the mobile 3D measurement device. It captures images, processes them to extract spatial information, and translates this into a trajectory that the 3D measurement device can follow, eliminating manual programming while preserving measurement precision.
Solution Approach 2:
The patent replaces manual mechanical path programming with an automated image-processing system. The mobile computing device uses computer vision algorithms to interpret images and automatically generate the measurement trajectory, substituting manual operations with automated computational processes that maintain 3D coordinate accuracy.
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 significantly reduces the time needed to program the path for the mobile 3D measurement system, allowing for more efficient data collection and scan operations by enabling the mobile device to autonomously follow a defined trajectory and perform scans with reduced operator intervention.
Implementation Method 1
a mobile computing device having a camera and one or more first processors, the one or more first processes being operable to optically determine and track a position of the mobile computing device based on images acquired by the camera
Implementation Method 2
A TOF laser scanner is a scanner in which the distance to a target point is determined based on the speed of light in air between the scanner and a target point
Implementation Method 3
The beam steering mechanism includes a first motor that steers the beam of light about a first axis by a first angle that is measured by a first angular encoder
Data Source
AI summary
A system and method of measuring 3D points is provided. The method includes defining a first frame of reference with a mobile computing device. A second frame of reference is defined with a mobile 3D measurement device. The mobile computing device is moved within a predetermined distance of the mobile 3D measurement device. The first frame of reference and the second frame of reference are registered when the mobile computing device is within the predetermined distance from the mobile 3D measurement device. The mobile computing device is moved along a path to define a trajectory in the first frame of reference. The trajectory is transmitted to the mobile 3D measurement device. The mobile 3D measurement device is moved along the trajectory in response to receiving the trajectory. 3D coordinates of point on an object are acquired with the mobile 3D measurement device.