GB2543459A - A six degree-of-freedom triangulation scanner and camera for augmented reality - Google Patents

A six degree-of-freedom triangulation scanner and camera for augmented reality

Info

Publication number
GB2543459A
GB2543459A GB1701984.5A GB201701984A GB2543459A GB 2543459 A GB2543459 A GB 2543459A GB 201701984 A GB201701984 A GB 201701984A GB 2543459 A GB2543459 A GB 2543459A
Authority
GB
United Kingdom
Prior art keywords
camera
retroreflector
freedom
augmented reality
scanner
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.)
Withdrawn
Application number
GB1701984.5A
Other versions
GB201701984D0 (en
Inventor
e bridges Robert
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Faro Technologies Inc
Original Assignee
Faro Technologies Inc
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from US14/820,665 external-priority patent/US10021379B2/en
Application filed by Faro Technologies Inc filed Critical Faro Technologies Inc
Publication of GB201701984D0 publication Critical patent/GB201701984D0/en
Publication of GB2543459A publication Critical patent/GB2543459A/en
Withdrawn legal-status Critical Current

Links

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
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • G01B11/2513—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with several lines being projected in more than one direction, e.g. grids, patterns
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/46—Indirect determination of position data
    • G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/66—Tracking systems using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4808—Evaluating distance, position or velocity data

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Studio Devices (AREA)

Abstract

A 3D coordinate measuring system includes a six-DOF unit having a unit frame of reference and including a structure, a retroreflector, a triangulation scanner, and an augmented reality (AR) color camera. The retroreflector, scanner and AR camera are attached to the structure. The scanner includes a first camera configured to form a first image of the pattern of light projected onto the object by a projector. The first camera and projector configured to cooperate to determine first 3D coordinates of a point on the object in the unit frame of reference, the determination based at least in part on the projected pattern of light and the first image. The system also includes a coordinate measuring device having a device frame of reference and configured to measure a pose of the retroreflector in the device frame of reference, the measured pose including measurements of six degrees-of-freedom of the retroreflector.
GB1701984.5A 2014-08-11 2015-08-10 A six degree-of-freedom triangulation scanner and camera for augmented reality Withdrawn GB2543459A (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201462035587P 2014-08-11 2014-08-11
US14/820,665 US10021379B2 (en) 2014-06-12 2015-08-07 Six degree-of-freedom triangulation scanner and camera for augmented reality
PCT/US2015/044409 WO2016025358A1 (en) 2014-08-11 2015-08-10 A six degree-of-freedom triangulation scanner and camera for augmented reality

Publications (2)

Publication Number Publication Date
GB201701984D0 GB201701984D0 (en) 2017-03-22
GB2543459A true GB2543459A (en) 2017-04-19

Family

ID=53836913

Family Applications (1)

Application Number Title Priority Date Filing Date
GB1701984.5A Withdrawn GB2543459A (en) 2014-08-11 2015-08-10 A six degree-of-freedom triangulation scanner and camera for augmented reality

Country Status (4)

Country Link
JP (1) JP2017524944A (en)
DE (1) DE112015003734T5 (en)
GB (1) GB2543459A (en)
WO (1) WO2016025358A1 (en)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017101580A1 (en) 2017-01-26 2018-07-26 Picofine GmbH Measuring head for a laser interferometer and related measuring method
DE102017212973A1 (en) * 2017-07-27 2019-01-31 Friedrich-Alexander-Universität Erlangen - Nürnberg Distance measuring device, measuring system and method for optical distance measurement
CN109238247B (en) * 2018-07-15 2021-07-02 天津大学 Six-degree-of-freedom measurement method for large-space complex site
US12002240B2 (en) * 2018-09-04 2024-06-04 Fastbrick Ip Pty Ltd. Vision system for a robotic machine
JP7112929B2 (en) * 2018-09-28 2022-08-04 株式会社トプコン Point cloud data display system
JP7118845B2 (en) * 2018-10-04 2022-08-16 株式会社トプコン Angle detection system
CN110006339B (en) * 2019-03-25 2021-08-10 北京卫星制造厂有限公司 Antenna reflector composite material mold surface precision in-situ measurement method and system
JP2021051031A (en) * 2019-09-26 2021-04-01 株式会社ミツトヨ Measurement support system

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011134083A1 (en) * 2010-04-28 2011-11-03 Ryerson University System and methods for intraoperative guidance feedback
US20120257017A1 (en) * 2007-08-10 2012-10-11 Leiga Geosystems Ag Method and surveying system for noncontact coordinate measurement on an object surface
US20130096873A1 (en) * 2011-10-17 2013-04-18 Kla-Tencor Corporation Acquisition of Information for a Construction Site
US20140139639A1 (en) * 2013-01-30 2014-05-22 Qualcomm Incorporated Real-time 3d reconstruction with power efficient depth sensor usage

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103398656B (en) * 2007-08-10 2016-08-10 莱卡地球系统公开股份有限公司 For carrying out method and the survey system of noncontact measurement of coordinates on a surface of an
ES2970406T3 (en) * 2010-03-30 2024-05-28 3Shape As Scanning cavities with restricted accessibility
US8537376B2 (en) * 2011-04-15 2013-09-17 Faro Technologies, Inc. Enhanced position detector in laser tracker

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120257017A1 (en) * 2007-08-10 2012-10-11 Leiga Geosystems Ag Method and surveying system for noncontact coordinate measurement on an object surface
WO2011134083A1 (en) * 2010-04-28 2011-11-03 Ryerson University System and methods for intraoperative guidance feedback
US20130096873A1 (en) * 2011-10-17 2013-04-18 Kla-Tencor Corporation Acquisition of Information for a Construction Site
US20140139639A1 (en) * 2013-01-30 2014-05-22 Qualcomm Incorporated Real-time 3d reconstruction with power efficient depth sensor usage

Also Published As

Publication number Publication date
DE112015003734T5 (en) 2017-06-14
WO2016025358A1 (en) 2016-02-18
JP2017524944A (en) 2017-08-31
GB201701984D0 (en) 2017-03-22

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Legal Events

Date Code Title Description
WAP Application withdrawn, taken to be withdrawn or refused ** after publication under section 16(1)