CN111121619A - Space geometry automatic measurement method based on laser ranging - Google Patents
Space geometry automatic measurement method based on laser ranging Download PDFInfo
- Publication number
- CN111121619A CN111121619A CN201811296003.9A CN201811296003A CN111121619A CN 111121619 A CN111121619 A CN 111121619A CN 201811296003 A CN201811296003 A CN 201811296003A CN 111121619 A CN111121619 A CN 111121619A
- Authority
- CN
- China
- Prior art keywords
- space
- laser ranging
- measured
- geometric
- laser
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/28—Measuring arrangements characterised by the use of optical techniques for measuring areas
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a space geometry automatic measurement method based on laser ranging, which mainly relates to an omnibearing rotating holder, a laser ranging module, an attitude sensor, a rotary driving device, a camera and a control center; the rotary driving device can drive the holder to rotate in all directions, and drive the laser ranging module to rotate, so that a space three-dimensional coordinate system can be established, and the characteristic points (points capable of reconstructing the space geometric figure) of the space geometric figure to be measured can be positioned in space coordinates by combining the measured attitude parameters and distance parameters; then, the detailed parameters can be solved through space geometric operation, and the actual measurement requirement is solved; the control center enables the laser spots to automatically and sequentially coincide with the characteristic points of the graph to be measured through the feedback control of the camera, and therefore automatic dotting measurement is achieved. Through the above manner, the invention can realize convenient, rapid, automatic and safe measurement of various geometric parameters in complex environments, dangerous environments or special environments which cannot be directly reached.
Description
Technical Field
The invention relates to the field of measurement of space geometric parameters (distance, area, volume and the like), in particular to a method and a device for measuring in a complex environment, a dangerous environment or a special environment which cannot be directly reached.
Background
Due to the good characteristics of laser energy focusing, electromagnetic wave reflection, high coherence, etc., laser technology is beginning to be applied to some distance or length measurements at home and abroad. Two common measurement principles are a pulse method and a phase method, and compared with the pulse method, the phase method has longer measurement time and higher precision. According to the phase method distance measurement of the laser, the measurement precision of the laser distance measurement module in the existing market reaches 1 mm. The laser distance measuring products which are representative in the market at present are a handheld laser distance measuring instrument and a telescope distance measuring instrument, the measuring range can reach hundreds of meters, and the precision reaches millimeter level.
The handheld laser range finder is mainly applied to home decoration design, construction site survey and the like; the telescope range finder can be applied to building construction, outdoor activities, electric power survey, landscape observation, golf measurement and the like. Both have good ranging effect, but there are some disadvantages worth improving.
First, the above-mentioned instrument mainly measures the distance from the instrument to a target point, and geometric parameters (distance, area, volume, etc.) between a plurality of target points that cannot be reached by an operator cannot be directly measured, which is greatly limited by the environment. Secondly, the above-mentioned instrument can measure the area of the rectangle and the volume of the cube simply mainly for the measurement of one-dimensional distance, and cannot measure the space parameters (area and volume) of other two-dimensional and three-dimensional shapes. Thirdly, the above-mentioned instruments present a large accidental error due to the hand-held operation during the measurement.
Disclosure of Invention
Aiming at the problems, the invention provides a method for automatically measuring the space geometric parameters in a complex environment, a dangerous environment or a special environment which cannot be directly reached.
The technical scheme is as follows: the invention provides a space geometry measuring method based on laser ranging, which mainly relates to an omnibearing rotating holder, a laser ranging module, an attitude sensor, a rotary driving device, a camera and a control center; the laser ranging module and the attitude sensor are relatively static and are placed on the tripod head, so that the attitude sensor can measure the current attitude parameter of a laser beam emitted by the laser ranging module, and the laser ranging module can measure the one-dimensional distance parameter from the rotating center of the tripod head to a target point; the rotation driving device can drive the holder to rotate in all directions, and drive the laser ranging module to rotate, so that a space three-dimensional coordinate system with the rotation center of the holder as an original point can be established, and coordinate positioning of a target point to be measured in the space three-dimensional coordinate system can be realized by combining the measured attitude parameter and distance parameter; sequentially carrying out coordinate positioning on all characteristic points (points capable of reconstructing the space geometric figure) of the space geometric figure to be measured in a space three-dimensional coordinate system, and then solving detailed parameters of the space geometric figure to be measured through space geometric operation and solving the actual measurement requirement; the camera is fixed when measuring the same geometric figure, can catch the characteristic point of the geometric figure of space to be measured, and convey the image information to the said control center, the operating personnel can mark all characteristic points of the figure to be measured on the picture of the picture caught through the control center first, the control center and record its picture coordinate (two-dimensional coordinate corresponding to picture of the picture), then send out the order and control the driving device of the cloud terrace to drive the cloud terrace to rotate, and feedback the picture coordinate of the laser spot through the camera in real time, feedback control makes it coincide in order to already demarcate the picture coordinate of the characteristic point automatically, namely realize the laser spot coincides in the characteristic point, and obtain its space three-dimensional coordinate, and then realize the automatic measurement of dotting.
In summary, by adopting the above technical scheme, the beneficial effects of the invention are as follows:
compared with the existing handheld laser range finder, the method provided by the invention expands the one-dimensional distance measurement to the space three-dimensional measurement, can realize multi-point space three-dimensional coordinate positioning, and further realizes the calculation and measurement of various space geometric parameters based on the multi-point accurate positioning, such as distance measurement, regular object volume area and volume measurement, angle measurement and the like. The measurement limitation caused by the handholding of the handheld laser range finder is eliminated, and the measurement range are enlarged. Particularly, the invention has more obvious advantages for geometric measurement in some dangerous environments, complex environments, non-directly reachable environments and other special environments, not only greatly reduces the workload of measurement in an automatic measurement mode, but also greatly ensures the life safety and body health of operators by a modeling method.
Drawings
The invention will now be described, by way of example, with reference to the accompanying drawings, in which:
FIG. 1 is a 3D model of a simplified apparatus according to an embodiment of the present invention. The notations in fig. 1: the system comprises a tripod head vertical rotating part 1, a laser receiving hole 2, a vertical rotating shaft 3, a laser beam 4, a vertical rotating driving motor 5, a tripod head horizontal rotating part 6, a tripod head base 7, a camera 8, a horizontal rotating shaft 9 and a horizontal rotating driving motor 10.
FIG. 2 is a schematic diagram of modeling and positioning of a three-dimensional rectangular coordinate system of the device according to the present invention.
FIG. 3 is a schematic diagram of a spatial multiple feature point delineation geometry of the present invention.
FIG. 4 is a block diagram of a closed loop feedback auto-seek control.
Detailed Description
The present invention is described in detail below with reference to an example.
The main parts of the device of the embodiment of the invention are shown in figure 1, and the device comprises an omnibearing rotary holder, a holder driving motor, a laser ranging module, an electronic compass, a camera and a computer (not shown in the figure).
The cloud deck is divided into a vertical rotating part, a horizontal rotating part and a base, the laser ranging module, the electronic compass and the camera are positioned on the vertical rotating part of the cloud deck, and the camera is positioned on the cloud deck base; the holder base is kept still; the straight line of the laser beam of the laser ranging module passes through the rotating center of the holder, the camera is fixed on the base, and the positions of the laser ranging module and the gyroscope are relatively fixed; the driving motor is divided into a horizontal driving motor and a vertical driving motor, and the vertical driving motor and the horizontal driving motor are respectively connected with a vertical rotating shaft and a horizontal rotating shaft of the holder; the computer is connected with the sensor through a communication cable.
The driving motor is used as a holder driving device, and the horizontal driving motor and the vertical driving motor respectively drive the holder to rotate through the horizontal rotating shaft and the vertical rotating shaft; the tripod head rotates to form a three-dimensional coordinate system of a modeling space, and the rotation center is the origin; the laser ranging module is used for measuring and calculating the distance from a target point (laser spot) to an original point, the electronic compass is used for measuring and calculating the current attitude angle of the laser beam, and the electronic compass and the laser ranging module can calculate the accurate coordinate of the target point relative to a three-dimensional coordinate system; the camera is used for capturing the triangle to be detected and the laser spot and transmitting the captured picture to the computer through the communication cable; the computer is used as a control center and can be used for an operator to input a control instruction of the holder, analyze the graphic information transmitted back by the camera, control the rotation of the holder, read the data of the laser ranging module and the electronic compass and perform corresponding calculation, calculate the spatial three-dimensional coordinates of the characteristic points, further calculate the geometric parameters (distance, area, volume and the like) of the geometric figure to be measured and realize the closed-loop automatic measurement.
The working principle and process of the example apparatus of the present invention are described below.
First is the three-dimensional spatial coordinate positioning of the feature points, see fig. 2. And establishing a space rectangular coordinate system by taking the rotation center of the omnibearing rotating holder as an original point, wherein the characteristic point to be detected is a point in the coordinate system, and the straight line where the laser beam is located passes through the original point of the coordinate and the characteristic point. The attitude angle of the space vector with the origin as the starting point and the characteristic point as the end point can be measured and calculated by an electronic compass in real time, the vector mode length can be directly measured and calculated by a laser ranging module, and further the space coordinate of the characteristic point at the end of the vector to a space rectangular coordinate system can be easily calculated.
Referring to fig. 3, a general regular spatial geometry can be reconstructed by feature points, for example, three vertices on a triangle can be reconstructed by taking the three vertices, since three points in space can determine a triangle, and similarly, other spatial geometries can also be reconstructed by feature points. The cloud deck of the device provided by the embodiment of the invention drives the laser ranging module to perform dotting measurement on the characteristic points of the spatial geometric figure to be measured, and positioning is performed under a spatial rectangular coordinate system, so that specific parameters of the geometric figure, such as distance, area, volume, angle, perimeter and the like, can be obtained through calculation of a spatial geometric correlation formula.
Referring to fig. 4, an operator firstly calibrates feature points on an image through a computer and records image coordinates of the feature points. And then, the computer analyzes the position relation of the laser spot and the image coordinate of the current characteristic point to be detected in real time, automatically adjusts the control instruction of the driving motor according to the deviation of the laser spot and adjusts the rotating speed and the steering direction of the driving motor, so that the holder drives the laser ranging module to change the posture, and further adjusts the position of the laser spot to move to the characteristic point to be detected. When the image coordinates of the laser spot and the current characteristic point to be measured coincide or the deviation is small to a certain range, the laser spot is moved to the characteristic point to be measured, so that the point measurement can be performed, and the spatial coordinates of the laser spot can be obtained until the measurement of all the characteristic points is completed.
The following description will be made of the measurement process taking the geometric parameters of the measurement space triangle as an example:
step 1: and selecting proper characteristic points according to the specific space geometric figure to be detected, wherein if the figure to be detected is a triangle, the characteristic points can be selected as three vertexes on the triangle.
Step 2: an operator marks triangular feature points in an image transmitted back by a camera through a computer, records image coordinates (pixel point positions) of the three feature points through the computer, and then sequentially acquires space coordinates of the feature points according to the following steps;
and step 3: the computer analyzes the position relation between the image coordinates of the laser spot and the image coordinates of the current characteristic point to be detected in real time and sends out a corresponding control instruction in real time;
and 4, step 4: the holder rotates according to a real-time control instruction to drive the laser spot of the laser ranging module to move to the current characteristic point to be measured;
and 5: the computer reads the attitude data of the electronic compass and the distance data of the laser ranging module, and then calculates the three-dimensional space coordinate of the feature point relative to the rotating center of the holder;
step 6: and (5) automatically repeating the steps 3-5 under the control of a computer, obtaining the space three-dimensional coordinates of the three characteristic points, and then entering the next step.
And 7: the computer can reconstruct the geometric characteristics of the triangle to be measured according to the three-dimensional space coordinates of the three characteristic points, and further calculate the specific parameters (inner angle, side length, height, perimeter, area and the like) of the triangle to be measured.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent structures or equivalent flow transformations made by using the contents of the specification and the drawings, or directly or indirectly applied to other related arts, are included in the scope of the present invention.
Claims (1)
1. A space geometry measuring method based on laser ranging is characterized in that a system mainly relates to an omnibearing rotating holder, a laser ranging module, an attitude sensor, a rotary driving device, a camera and a control center;
the laser ranging module and the attitude sensor are relatively static and are placed on the tripod head, so that the attitude sensor can measure the current attitude parameter of a laser beam emitted by the laser ranging module, and the laser ranging module can measure the one-dimensional distance parameter from the rotating center of the tripod head to a target point;
the rotation driving device can drive the holder to rotate in all directions, and drive the laser ranging module to rotate, so that a space three-dimensional coordinate system with the rotation center of the holder as an original point can be established, and coordinate positioning of a target point to be measured in the space three-dimensional coordinate system can be realized by combining the measured attitude parameter and distance parameter;
sequentially carrying out coordinate positioning on all characteristic points (points capable of reconstructing the space geometric figure) of the space geometric figure to be measured in a space three-dimensional coordinate system, and then solving detailed parameters of the space geometric figure to be measured through space geometric operation and solving the actual measurement requirement;
the camera is fixed when measuring the same geometric figure, can catch the characteristic point of the geometric figure of space to be measured, and convey the image information to the said control center, the operating personnel can mark all characteristic points of the figure to be measured on the picture of the picture caught through the control center first, the control center and record its picture coordinate (two-dimensional coordinate corresponding to picture of the picture), then send out the order and control the driving device of the cloud terrace to drive the cloud terrace to rotate, and feedback the picture coordinate of the laser spot through the camera in real time, feedback control makes it coincide in order to already demarcate the picture coordinate of the characteristic point automatically, namely realize the laser spot coincides in the characteristic point, and obtain its space three-dimensional coordinate, and then realize the automatic measurement of dotting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811296003.9A CN111121619A (en) | 2018-11-01 | 2018-11-01 | Space geometry automatic measurement method based on laser ranging |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811296003.9A CN111121619A (en) | 2018-11-01 | 2018-11-01 | Space geometry automatic measurement method based on laser ranging |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111121619A true CN111121619A (en) | 2020-05-08 |
Family
ID=70494847
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811296003.9A Pending CN111121619A (en) | 2018-11-01 | 2018-11-01 | Space geometry automatic measurement method based on laser ranging |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111121619A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112325795A (en) * | 2020-10-16 | 2021-02-05 | 华中科技大学鄂州工业技术研究院 | Three-dimensional target flight time measuring method, system and device based on machine vision guidance |
| CN112797935A (en) * | 2021-02-05 | 2021-05-14 | 辽宁科技大学 | Non-contact object positioning and measuring device and control method thereof |
| CN113340214A (en) * | 2021-05-21 | 2021-09-03 | 机械工业第九设计研究院有限公司 | System and method for accurately detecting thickness of wall at any position |
| CN113465536A (en) * | 2021-06-30 | 2021-10-01 | 皖江工学院 | Laser holder based on camera guide and working method thereof |
| CN113701710A (en) * | 2021-08-31 | 2021-11-26 | 高新兴科技集团股份有限公司 | Laser spot positioning method, distance measuring method, medium and equipment applied to security monitoring |
| CN113737798A (en) * | 2021-08-09 | 2021-12-03 | 中交第三航务工程局有限公司 | Piling positioning height measurement system for piling ship |
| CN113804107A (en) * | 2021-08-19 | 2021-12-17 | 中联重科股份有限公司 | Detection method and controller for suspension arm, detection device for suspension arm and engineering machinery |
| CN115077414A (en) * | 2022-04-29 | 2022-09-20 | 西安电子科技大学 | Device and method for measuring bottom contour of sea surface target by underwater vehicle |
| CN115143889A (en) * | 2022-06-07 | 2022-10-04 | 中国航空工业集团公司沈阳飞机设计研究所 | Displacement measurement device and method for full-mechanical static test |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102353329A (en) * | 2011-08-24 | 2012-02-15 | 吉林大学 | Method for measuring non-contact three-dimensional coordinate of simulation test site and device used in same |
| CN103438829A (en) * | 2013-08-30 | 2013-12-11 | 北京三维麦普导航测绘技术有限公司 | Intelligent laser three-dimensional information measurement instrument |
| CN103557796A (en) * | 2013-11-19 | 2014-02-05 | 天津工业大学 | Three-dimensional locating system and locating method based on laser ranging and computer vision |
| CN103759634A (en) * | 2013-12-20 | 2014-04-30 | 西安工业大学 | Near-infrared laser spot field-of-view parameter measurement device and method |
| DE102012223928A1 (en) * | 2012-12-20 | 2014-06-26 | Hilti Aktiengesellschaft | Method and device for determining the location coordinates of a target object |
| CN106931885A (en) * | 2017-04-17 | 2017-07-07 | 铁道第三勘察设计院集团有限公司 | The quick, intelligent detecting system of track traffic basic component size and method |
| CN108050928A (en) * | 2017-09-05 | 2018-05-18 | 东莞中子科学中心 | A kind of vision measurer and a kind of vision measuring method |
| RU2664257C2 (en) * | 2013-06-19 | 2018-08-15 | Зе Боинг Компани | Systems and methods for tracking location of mobile target objects |
-
2018
- 2018-11-01 CN CN201811296003.9A patent/CN111121619A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102353329A (en) * | 2011-08-24 | 2012-02-15 | 吉林大学 | Method for measuring non-contact three-dimensional coordinate of simulation test site and device used in same |
| DE102012223928A1 (en) * | 2012-12-20 | 2014-06-26 | Hilti Aktiengesellschaft | Method and device for determining the location coordinates of a target object |
| RU2664257C2 (en) * | 2013-06-19 | 2018-08-15 | Зе Боинг Компани | Systems and methods for tracking location of mobile target objects |
| CN103438829A (en) * | 2013-08-30 | 2013-12-11 | 北京三维麦普导航测绘技术有限公司 | Intelligent laser three-dimensional information measurement instrument |
| CN103557796A (en) * | 2013-11-19 | 2014-02-05 | 天津工业大学 | Three-dimensional locating system and locating method based on laser ranging and computer vision |
| CN103759634A (en) * | 2013-12-20 | 2014-04-30 | 西安工业大学 | Near-infrared laser spot field-of-view parameter measurement device and method |
| CN106931885A (en) * | 2017-04-17 | 2017-07-07 | 铁道第三勘察设计院集团有限公司 | The quick, intelligent detecting system of track traffic basic component size and method |
| CN108050928A (en) * | 2017-09-05 | 2018-05-18 | 东莞中子科学中心 | A kind of vision measurer and a kind of vision measuring method |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112325795A (en) * | 2020-10-16 | 2021-02-05 | 华中科技大学鄂州工业技术研究院 | Three-dimensional target flight time measuring method, system and device based on machine vision guidance |
| CN112797935A (en) * | 2021-02-05 | 2021-05-14 | 辽宁科技大学 | Non-contact object positioning and measuring device and control method thereof |
| CN113340214A (en) * | 2021-05-21 | 2021-09-03 | 机械工业第九设计研究院有限公司 | System and method for accurately detecting thickness of wall at any position |
| CN113340214B (en) * | 2021-05-21 | 2023-03-14 | 机械工业第九设计研究院股份有限公司 | System and method for accurately detecting thickness of wall at any position |
| CN113465536A (en) * | 2021-06-30 | 2021-10-01 | 皖江工学院 | Laser holder based on camera guide and working method thereof |
| CN113737798A (en) * | 2021-08-09 | 2021-12-03 | 中交第三航务工程局有限公司 | Piling positioning height measurement system for piling ship |
| CN113737798B (en) * | 2021-08-09 | 2023-03-14 | 中交第三航务工程局有限公司 | Piling positioning and height measuring system for piling ship |
| CN113804107A (en) * | 2021-08-19 | 2021-12-17 | 中联重科股份有限公司 | Detection method and controller for suspension arm, detection device for suspension arm and engineering machinery |
| CN113701710A (en) * | 2021-08-31 | 2021-11-26 | 高新兴科技集团股份有限公司 | Laser spot positioning method, distance measuring method, medium and equipment applied to security monitoring |
| CN113701710B (en) * | 2021-08-31 | 2024-05-17 | 高新兴科技集团股份有限公司 | Laser spot positioning method, ranging method, medium and equipment applied to security monitoring |
| CN115077414A (en) * | 2022-04-29 | 2022-09-20 | 西安电子科技大学 | Device and method for measuring bottom contour of sea surface target by underwater vehicle |
| CN115143889A (en) * | 2022-06-07 | 2022-10-04 | 中国航空工业集团公司沈阳飞机设计研究所 | Displacement measurement device and method for full-mechanical static test |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111121619A (en) | Space geometry automatic measurement method based on laser ranging | |
| US11035955B2 (en) | Registration calculation of three-dimensional scanner data performed between scans based on measurements by two-dimensional scanner | |
| US10585167B2 (en) | Relative object localization process for local positioning system | |
| US11112501B2 (en) | Using a two-dimensional scanner to speed registration of three-dimensional scan data | |
| US9513107B2 (en) | Registration calculation between three-dimensional (3D) scans based on two-dimensional (2D) scan data from a 3D scanner | |
| US10989532B2 (en) | System and method of defining a path and scanning an environment | |
| JP6316568B2 (en) | Surveying system | |
| US11463680B2 (en) | Using virtual landmarks during environment scanning | |
| EP3992660A1 (en) | Simultaneous localization and mapping algorithms using three-dimensional registration | |
| BR112015031505B1 (en) | Method for determining a current location of a target object, and system for tracking location | |
| US10670390B2 (en) | System and method for verifying projection accuracy | |
| US11852777B2 (en) | Projector with three-dimensional measurement device | |
| JPWO2019103154A1 (en) | Surveying equipment, surveying system, surveying method and surveying program | |
| CN104777452B (en) | Positioning system and positioning method of mobile equipment | |
| US11927692B2 (en) | Correcting positions after loop closure in simultaneous localization and mapping algorithm | |
| EP3916425A1 (en) | Alignment and registration system and method for coordinate scanners | |
| EP3792663A1 (en) | A system and method of defining a path and scanning an environment | |
| EP4239372A1 (en) | System and method of combining three dimensional data | |
| EP3723047A1 (en) | Localization and projection in buildings based on a reference system | |
| CN115267810A (en) | Method, system and storage medium for accurately positioning laser of single line laser combination point | |
| US11614319B2 (en) | User interface for three-dimensional measurement device | |
| GB2543658A (en) | Registration calculation between three-dimensional (3D) scans based on two-dimensional (2D) scan data from a 3D scanner | |
| JP2023100945A (en) | Measurement device, measurement method, and measurement program | |
| GB2543657A (en) | Registration calculation of three-dimensional scanner data performed between scans based on measurements by two-dimensional scanner | |
| TWM506281U (en) | Measurement apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20200508 |
|
| WD01 | Invention patent application deemed withdrawn after publication |