Spherical Camera Laser Scanner Indoor 3D Localization
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Solution Overview
Problem
Existing three-dimensional measurement systems struggle to accurately specify self-localization in indoor spaces and tunnels where GPS is unavailable, relying on expensive IMUs that suffer from accuracy drift and calibration issues.
Innovation Solution
A measuring system comprising a spherical camera, laser scanner, synchronous control unit, storage unit, and control arithmetic unit, which uses absolute scale objects and total stations to acquire and synchronize image and point cloud data, enabling photogrammetry-based 3D model creation without GPS, thereby facilitating inexpensive and accurate self-localization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GPS is used for self-localization, then positioning accuracy is improved, but it cannot be used in indoor spaces and tunnels where GPS signals are unavailable
Solution Approach 1:
The patent introduces spherical camera images as an intermediary medium to enable positioning in GPS-denied environments. By capturing images with a spherical camera and performing photogrammetric processing, the system creates a visual reference framework that serves as a mediator between the physical environment and the positioning algorithm, allowing self-localization without direct GPS signals
Solution Approach 2:
The patent replaces the GPS satellite-based electromagnetic signal system with a ground-based visual recognition system. Instead of relying on external satellite signals that penetrate the environment, the system uses local visual features captured by the spherical camera and processed through photogrammetry to establish position, substituting a mechanical/optical system for an electromagnetic signal-based system
2Adaptability or versatility
If IMU is used for self-localization, then positioning can be achieved in indoor spaces, but the cost increases and accuracy deteriorates due to drift and calibration requirements
Solution Approach 1:
The patent creates a visual copy or representation of the physical environment through spherical camera images and photogrammetric processing. This visual model serves as a reference framework that can be matched against pre-scanned environments or used for relative positioning, providing a stable reference that does not suffer from the drift problems inherent in inertial measurement systems
Solution Approach 2:
The patent replaces expensive, maintenance-intensive IMU systems with inexpensive spherical camera systems. The camera system has no moving parts, requires minimal calibration, and can be easily replaced if needed, providing a cost-effective alternative that eliminates the ongoing maintenance and calibration burden of inertial systems
3Adaptability or versatility
If IMU is used for self-localization, then indoor positioning is enabled, but calibration becomes troublesome and maintenance cost increases
Solution Approach 1:
The patent enables the system to perform self-calibration and self-positioning through automatic feature extraction and matching from spherical camera images. The photogrammetric processing automatically establishes geometric relationships and camera positions without requiring manual calibration procedures, allowing the system to service itself and eliminating the need for specialized calibration operations
4Measurement precision
If spherical camera and laser scanner are used together, then three-dimensional measurement capability is improved, but data synchronization becomes complex
Solution Approach 1:
The patent merges the spherical camera and laser scanner into an integrated measurement system with a common coordinate system and synchronized data acquisition. By combining the visual data from the spherical camera with the precise range data from the laser scanner in a unified photogrammetric framework, the system achieves accurate three-dimensional measurement while managing data integration through integrated processing algorithms
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 the creation of three-dimensional point cloud models over wide areas with high accuracy and low costs, eliminating the need for expensive IMUs and ensuring precise self-localization in environments where GPS is unavailable.
Implementation Method 1
a spherical camera (8) for acquiring image data over total circumference
Implementation Method 2
a laser scanner (6, 7) installed integrally with the spherical camera (8) and for acquiring point cloud data of the surroundings
Implementation Method 3
acquiring point cloud data of the surroundings
Implementation Method 4
the control arithmetic unit (10) carries out photogrammetry based on images adjacent to each other
Data Source
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AI summary
A measuring instrument comprises an spherical camera (8) for acquiring image data over total circumference, a laser scanner (6, 7) installed integrally with the spherical camera and for acquiring point cloud data of the surroundings, a synchronous control unit (9) for controlling acquisition of data of the spherical camera and the laser scanner, a storage unit (12) for recording the image data and the point cloud data, an absolute scale acquiring means for acquiring an absolute scale for obtaining an absolute position of when images are photographed by the spherical camera, and a control arithmetic unit (10), wherein the control arithmetic unit calculates a 3D model based on the image data, the point cloud data, and the absolute position.