Handheld Scanner Re-localization for Non-Digital Floorplan Updates
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Solution Overview
Problem
Handheld scanning devices face challenges in re-localizing within previously mapped environments, leading to difficulties in combining data from different mapping sessions and updating floorplans without remapping the entire area, due to the 'kidnapped robot' problem and lack of a priori environmental information.
Innovation Solution
A system and method for automatic re-localization using a 2D scanner with a light source and image sensor, coupled with processors that determine the device's location relative to a previously generated 2D image, allowing for iterative adjustment of the point of view until scan data matches within a threshold, enabling combination of mapping sessions and updating floorplans without full re-scanning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If handheld scanning device is stopped during mapping session, then user can pause operation, but mapping session cannot be resumed and data integration is lost
Solution Approach 1:
The system performs preliminary actions by continuously capturing environmental features and maintaining mapping data in memory during pauses, so that when the mapping session is resumed, the device can quickly re-localize and continue data collection without loss of previously captured information
Solution Approach 2:
The system uses feedback mechanisms by comparing current scan data with previously captured environmental features to determine device re-localization, allowing the mapping session to be resumed and continued accurately after a pause
2Manufacturing precision
If entire environment is re-scanned to update floorplan, then complete and accurate data is obtained, but scanning time is significantly increased
Solution Approach 1:
The system segments the mapping process by dividing the environment into previously mapped regions and new regions to be mapped, allowing selective re-scanning of only the new regions while integrating with existing floorplan data, thus reducing total scanning time while maintaining completeness
Solution Approach 2:
The system performs partial action by scanning only the necessary new portions of the environment rather than the entire area, using re-localization to identify and map only the regions that need updating, thereby reducing scanning time while obtaining complete and accurate floorplan data
3Measurement precision
If complex scanning equipment with movable structure is used, then accurate coordinate determination is achieved, but device portability and scanning speed are reduced
Solution Approach 1:
The system replaces complex mechanical scanning equipment with a handheld device that uses optical fields (lasers and cameras) to determine coordinates, eliminating the need for bulky movable structures while maintaining measurement accuracy through computational methods
Solution Approach 2:
The handheld scanning device performs self-localization by using environmental features and previously captured data to automatically determine its position and orientation, eliminating the need for external guidance or complex mechanical positioning systems
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 efficient re-localization of handheld scanning devices, allowing for the combination of multiple mapping sessions and updating of floorplans without the need to re-map the entire environment, improving data integration and reducing scanning time.
Implementation Method 1
The light source steers a beam of light within the first plane to illuminate object points in the environment
Implementation Method 2
The image sensor is arranged to receive light reflected from the object points
Data Source
AI summary
A system and method of automatic re-localization of a handheld scanning device in a previously mapped environment is provided. The system includes a two-dimensional (2D) scanner and one or more processors operably coupled to the 2D scanner. The one or more processors are responsive to non-transitory executable instructions for performing operations that include determining a current location of the 2D scanner in the environment relative to a location in a previously generated 2D image of the environment that was generated based on an image of a non-digital floorplan. The operations also include generating a new 2D image of at least a subset of the environment. The at least a subset of the environment includes the current location of the 2D scanner and at least one other location in the environment. The operations further include overlapping portions of the previously generated 2D image and the new 2D image.