3D Point Cloud Colorization via Ultrawide-Angle Imaging and Dynamic Calibration
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Solution Overview
Problem
Existing 3D scanners face challenges in efficiently colorizing point clouds due to the need for extensive calibration and the time-consuming process of acquiring multiple images with different exposures, especially when capturing 360-degree environments, which limits their operational efficiency.
Innovation Solution
A system that includes a 3D scanner, a camera, and an auxiliary ultrawide-angle camera for capturing control and calibration images, performing periodic full and limited system calibrations to update calibration parameters on-the-fly, reducing the number of images required and enhancing colorization accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple images with different exposures are acquired to enhance color representation, then color accuracy is improved, but acquisition time increases significantly
Solution Approach 1:
The patent applies partial action by acquiring only a limited number of images (e.g., 3-5 images) with different exposures instead of acquiring all possible exposure images. This partial acquisition provides sufficient color information for most scenes while dramatically reducing acquisition time compared to exhaustive multi-exposure imaging.
Solution Approach 2:
The system dynamically adjusts exposure parameters across multiple images to capture different luminance ranges. By varying exposure settings and combining results, the system achieves enhanced color accuracy without requiring exhaustive imaging, thus balancing quality and speed.
2Measurement precision
If extensive calibration is performed to improve colorization accuracy, then calibration precision is improved, but system complexity and calibration time increase
Solution Approach 1:
The system performs preliminary calibration actions by capturing a limited set of calibration images with different exposures before actual scanning. These pre-acquired calibration images are used to establish color mapping relationships, enabling accurate colorization without requiring extensive real-time calibration during operation.
Solution Approach 2:
The patent uses calibration images as copies or references to establish color relationships. By capturing representative calibration images under known conditions, the system creates a color reference model that can be applied to subsequent scanning operations, simplifying the overall calibration process while maintaining 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 for color image acquisition and improves the accuracy of colorization in 3D point clouds, allowing for more efficient and reliable 3D scanning operations, especially in environments with high dynamic range.
Implementation Method 1
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 2
They may be used, for example, in industrial applications and accident reconstruction applications. A laser scanner optically scans and measures objects in a volume around the scanner through the acquisition of data points representing object surfaces within the volume. Such data points are obtained by transmitting a beam of light onto the objects and collecting the reflected or scattered light
Implementation Method 3
The system further includes a camera that captures a control image by capturing a plurality of images of the surrounding environment
Data Source
AI summary
A system includes a three-dimensional (3D) scanner that captures a 3D point cloud corresponding to one or more objects in a surrounding environment. The system further includes a camera that captures a control image by capturing a plurality of images of the surrounding environment, and an auxiliary camera configured to capture an ultrawide-angle image of the surrounding environment. One or more processors of the system colorize the 3D point cloud using the ultrawide-angle image by mapping the ultrawide-angle image to the 3D point cloud. The system performs a limited system calibration before colorizing each 3D point cloud, and a periodic full system calibration before/after a plurality of 3D point clouds are colorized.