JP2010151682A - レーザスキャナ及びレーザスキャナ測定システム及びレーザスキャナ測定システムの較正方法及び較正用ターゲット - Google Patents
レーザスキャナ及びレーザスキャナ測定システム及びレーザスキャナ測定システムの較正方法及び較正用ターゲット Download PDFInfo
- Publication number
- JP2010151682A JP2010151682A JP2008331412A JP2008331412A JP2010151682A JP 2010151682 A JP2010151682 A JP 2010151682A JP 2008331412 A JP2008331412 A JP 2008331412A JP 2008331412 A JP2008331412 A JP 2008331412A JP 2010151682 A JP2010151682 A JP 2010151682A
- Authority
- JP
- Japan
- Prior art keywords
- unit
- laser scanner
- light
- distance measuring
- laser beam
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims description 10
- 238000005259 measurement Methods 0.000 claims description 81
- 238000001514 detection method Methods 0.000 abstract description 13
- 238000002310 reflectometry Methods 0.000 abstract description 3
- 230000003287 optical effect Effects 0.000 description 30
- 238000003384 imaging method Methods 0.000 description 15
- 239000000463 material Substances 0.000 description 2
- 238000013480 data collection Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004043 responsiveness Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
Classifications
-
- 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
- G01S7/497—Means for monitoring or calibrating
-
- 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
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- 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
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
- G01S7/4812—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver transmitted and received beams following a coaxial path
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
【解決手段】パルスレーザ光線を発する発光素子18と、前記パルスレーザ光線を走査する回転照射部9と、測距受光部21を有し、対象物からの反射光を受光して測距を行う測距部20と、前記発光素子、前記測距部を駆動制御する制御部10を具備するレーザスキャナ3と、既知の形状の高反射率を有する反射部を有し、既知の位置に設置された較正用ターゲットとを備え、前記制御部は前記測距受光部が受光する前記反射部からの反射パルスレーザ光線を光量のレベル検出により判別し、判別結果に基づき前記反射部の中心位置を求め、求めた中心位置と前記既知の位置とに基づきレーザスキャナ測定システムの較正を行う。
【選択図】図3
Description
2 全方位カメラ
3 レーザスキャナ
4 GPS
5 慣性計測センサ
9 回転照射部
10 制御部
14 発光光軸
17 撮像光軸
18 発光素子
20 測距部
21 測距受光部
22 測距光
27 撮像部
41 演算部
42 記憶部
48 較正用ターゲット
49 ボード
50 反射部
51 較正用ターゲット
52 ボード
53 反射部
Claims (6)
- パルスレーザ光線を発する発光素子と、前記パルスレーザ光線を走査する回転照射部と、測距受光部を有し、対象物からの反射光を受光して測距を行う測距部と、前記発光素子、前記測距部を駆動制御する制御部を具備するレーザスキャナであって、前記制御部は前記測距受光部が受光する反射パルスレーザ光線の光量のレベル検出により前記対象物の判別を行う様にしたことを特徴とするレーザスキャナ。
- パルスレーザ光線を発する発光素子と、前記パルスレーザ光線を走査する回転照射部と、測距受光部を有し、対象物からの反射光を受光して測距を行う測距部と、前記発光素子、前記測距部を駆動制御する制御部を具備するレーザスキャナと、既知の形状の高反射率を有する反射部を有する較正用ターゲットとを備え、前記制御部は前記測距受光部が受光する前記反射部からの反射パルスレーザ光線を光量のレベル検出により判別し、判別結果に基づき前記反射部の中心位置を求める様にしたことを特徴とするレーザスキャナ測定システム。
- 前記較正用ターゲットを測定すべき位置に設置し、前記レーザスキャナにより、前記較正用ターゲットの中心位置を測定することで、前記測定すべき位置を測定する様にした請求項2のレーザスキャナ測定システム。
- パルスレーザ光線を発する発光素子と、前記パルスレーザ光線を走査する回転照射部と、測距受光部を有し、対象物からの反射光を受光して測距を行う測距部と、前記発光素子、前記測距部を駆動制御する制御部を具備するレーザスキャナと、既知の形状の高反射率を有する反射部を有し、既知の位置に設置された較正用ターゲットとを備え、前記制御部は前記測距受光部が受光する前記反射部からの反射パルスレーザ光線を光量のレベル検出により判別し、判別結果に基づき前記反射部の中心位置を求め、求めた中心位置と前記既知の位置とに基づきレーザスキャナ測定システムの較正を行うことを特徴とするレーザスキャナ測定システムの較正方法。
- パルスレーザ光線を発する発光素子と、前記パルスレーザ光線を走査する回転照射部と、測距受光部を有し、対象物からの反射光を受光して測距を行う測距部と、前記発光素子、前記測距部を駆動制御する制御部を具備するレーザスキャナと、該レーザスキャナが設置された移動体と、既知の形状の高反射率を有する反射部を有し、既知の位置に設置された少なくとも2つの較正用ターゲットとを備え、前記制御部は前記測距受光部が受光する前記反射部からの反射パルスレーザ光線を光量のレベル検出により判別し、判別結果に基づき前記較正用ターゲットそれぞれの前記反射部の中心位置を求め、求めた中心位置に基づき2つの前記較正用ターゲット間の距離を演算し、演算した該較正用ターゲット間の距離と既知の前記較正用ターゲット間の距離との比較に基づきレーザスキャナ測定システムの較正を行うことを特徴とするレーザスキャナ測定システムの較正方法。
- パルスレーザ光線を所定範囲に走査し、各パルス光の反射光を受光して点群データを取得するレーザスキャナに用いられるターゲットであって、既知の形状の高反射率を有する反射部を有し、該反射部は前記パルス光が前記反射部の相対向するエッジの各エッジの周辺に少なくとも3点が照射される様になっていることを特徴とする較正用ターゲット。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008331412A JP5688876B2 (ja) | 2008-12-25 | 2008-12-25 | レーザスキャナ測定システムの較正方法 |
US12/653,356 US8310653B2 (en) | 2008-12-25 | 2009-12-11 | Laser scanner, laser scanner measuring system, calibration method for laser scanner measuring system and target for calibration |
US13/449,389 US8355118B2 (en) | 2008-12-25 | 2012-04-18 | Laser scanner, laser scanner measuring system, calibration method for laser scanner measuring system and target for calibration |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008331412A JP5688876B2 (ja) | 2008-12-25 | 2008-12-25 | レーザスキャナ測定システムの較正方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2010151682A true JP2010151682A (ja) | 2010-07-08 |
JP5688876B2 JP5688876B2 (ja) | 2015-03-25 |
Family
ID=42570936
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2008331412A Active JP5688876B2 (ja) | 2008-12-25 | 2008-12-25 | レーザスキャナ測定システムの較正方法 |
Country Status (2)
Country | Link |
---|---|
US (2) | US8310653B2 (ja) |
JP (1) | JP5688876B2 (ja) |
Cited By (36)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2012234527A (ja) * | 2011-04-28 | 2012-11-29 | Sick Ag | 窃盗防止装置並びに不正な干渉及び侵入の認識方法 |
JP2013539531A (ja) * | 2010-07-22 | 2013-10-24 | レニショウ パブリック リミテッド カンパニー | レーザ走査装置および使用方法 |
JP2014020978A (ja) * | 2012-07-20 | 2014-02-03 | Fujitsu Ltd | 照射装置、距離測定装置、照射装置のキャリブレーションプログラム及びキャリブレーション方法 |
JP2014109686A (ja) * | 2012-12-03 | 2014-06-12 | Hokuyo Automatic Co | 偏向装置、光走査装置及び走査式測距装置 |
JP2014173990A (ja) * | 2013-03-08 | 2014-09-22 | Topcon Corp | 計測装置 |
WO2016136775A1 (ja) * | 2015-02-24 | 2016-09-01 | 株式会社パスコ | レーザ計測システム、反射ターゲット体及びレーザ計測方法 |
WO2017057042A1 (ja) * | 2015-09-30 | 2017-04-06 | ソニー株式会社 | 信号処理装置、信号処理方法、プログラム、および、物体検出システム |
WO2017057041A1 (ja) * | 2015-09-30 | 2017-04-06 | ソニー株式会社 | 信号処理装置、信号処理方法、およびプログラム |
WO2017149813A1 (ja) * | 2016-02-29 | 2017-09-08 | 株式会社日立製作所 | センサキャリブレーションシステム |
JP2018004401A (ja) * | 2016-06-30 | 2018-01-11 | 株式会社トプコン | レーザスキャナ及びレーザスキャナシステム及び点群データのレジストレーション方法 |
KR20180064242A (ko) * | 2016-12-05 | 2018-06-14 | 정지성 | 속도 적응형 장애물 감지장치 |
KR101880593B1 (ko) * | 2016-05-03 | 2018-07-20 | 국방과학연구소 | 무인차량의 자율주행을 위한 라이다센서 장치 |
EP3370209A1 (en) | 2017-03-02 | 2018-09-05 | Topcon Corporation | Point cloud data processing device, point cloud data processing method, and point cloud data processing program |
EP3467436A1 (en) | 2017-10-03 | 2019-04-10 | Topcon Corporation | Unmanned aerial vehicle, data processing device, path selection device, processing method and processing program |
EP3474109A1 (en) | 2017-10-17 | 2019-04-24 | Topcon Corporation | Measuring device, control device for unmanned aerial vehicle and method for controlling unmanned aerial vehicle |
EP3483554A1 (en) | 2017-11-13 | 2019-05-15 | Topcon Corporation | Surveying device, and calibration checking method and calibration checking program for surveying device |
EP3495769A1 (en) | 2017-12-05 | 2019-06-12 | Topcon Corporation | Surveying device, and calibration method and calibration program for surveying device |
EP3506042A1 (en) | 2017-12-27 | 2019-07-03 | Topcon Corporation | Three-dimensional information processing unit, apparatus having three-dimensional information processing unit, unmanned aerial vehicle, informing device, method and program for controlling mobile body using three-dimensional information processing unit |
US10353072B2 (en) | 2015-06-26 | 2019-07-16 | Topcon Corporation | Laser scanner controlling device, laser scanner controlling method, and laser scanner controlling program |
EP3514489A1 (en) | 2018-01-23 | 2019-07-24 | Topcon Corporation | Surveying device and surveying method |
CN110121660A (zh) * | 2016-12-30 | 2019-08-13 | 帕诺森斯有限公司 | 基于参考表面的激光雷达传感器组件校准 |
EP3584603A1 (en) | 2018-06-19 | 2019-12-25 | Topcon Corporation | Reflection object position calculating device, reflection object position calculating method, and reflection object position calculating program |
EP3591336A1 (en) | 2018-07-06 | 2020-01-08 | Topcon Corporation | Method, device, and program for surveying |
JP2020008531A (ja) * | 2018-07-12 | 2020-01-16 | ファナック株式会社 | 距離補正機能を有する測距装置 |
EP3628968A1 (en) | 2018-09-25 | 2020-04-01 | Topcon Corporation | Survey data processing device, survey data processing method, and survey data processing program |
EP3628966A1 (en) | 2018-09-28 | 2020-04-01 | Topcon Corporation | Survey data processing device, survey data processing method, and survey data processing program |
WO2020071167A1 (ja) * | 2018-10-01 | 2020-04-09 | パイオニア株式会社 | 光軸調整用装置 |
CN111238533A (zh) * | 2020-01-09 | 2020-06-05 | 广东博智林机器人有限公司 | 智能校准系统、方法、装置、电子设备及存储介质 |
US10755671B2 (en) | 2017-12-08 | 2020-08-25 | Topcon Corporation | Device, method, and program for controlling displaying of survey image |
EP3767231A1 (en) | 2019-07-16 | 2021-01-20 | Topcon Corporation | Surveying apparatus |
EP3771886A1 (en) | 2019-07-30 | 2021-02-03 | Topcon Corporation | Surveying apparatus, surveying method, and surveying program |
EP3792591A1 (en) | 2019-08-26 | 2021-03-17 | Topcon Corporation | Surveying data processing device, surveying data processing method, and surveying data processing program |
EP3795945A1 (en) | 2019-09-18 | 2021-03-24 | Topcon Corporation | Surveying data processing device, surveying data processing method, and surveying data processing program |
US10969493B2 (en) | 2017-09-19 | 2021-04-06 | Topcon Corporation | Data processing device, data processing method, and data processing program |
US11585900B2 (en) | 2017-11-02 | 2023-02-21 | Topcon Corporation | Reflecting prism, measurement target object including reflecting prism, surveying device, coordinate comparing section, surveying method, and surveying processing program |
KR102677939B1 (ko) * | 2022-04-06 | 2024-06-26 | 현대무벡스 주식회사 | 모바일 로봇과 스캐너 간의 캘리브레이션 방법 |
Families Citing this family (80)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102006031580A1 (de) | 2006-07-03 | 2008-01-17 | Faro Technologies, Inc., Lake Mary | Verfahren und Vorrichtung zum dreidimensionalen Erfassen eines Raumbereichs |
USRE46672E1 (en) * | 2006-07-13 | 2018-01-16 | Velodyne Lidar, Inc. | High definition LiDAR system |
JP5081014B2 (ja) * | 2008-02-28 | 2012-11-21 | 株式会社トプコン | ターゲット及びこれを用いた三次元形状測定装置 |
JP5688876B2 (ja) | 2008-12-25 | 2015-03-25 | 株式会社トプコン | レーザスキャナ測定システムの較正方法 |
DE102009010465B3 (de) | 2009-02-13 | 2010-05-27 | Faro Technologies, Inc., Lake Mary | Laserscanner |
DE102009015920B4 (de) | 2009-03-25 | 2014-11-20 | Faro Technologies, Inc. | Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung |
US9551575B2 (en) | 2009-03-25 | 2017-01-24 | Faro Technologies, Inc. | Laser scanner having a multi-color light source and real-time color receiver |
DE102009035337A1 (de) | 2009-07-22 | 2011-01-27 | Faro Technologies, Inc., Lake Mary | Verfahren zum optischen Abtasten und Vermessen eines Objekts |
DE102009038964A1 (de) * | 2009-08-20 | 2011-02-24 | Faro Technologies, Inc., Lake Mary | Verfahren zum optischen Abtasten und Vermessen einer Umgebung |
GB2473668B (en) * | 2009-09-22 | 2011-08-31 | Guidance Ip Ltd | A position reference sensor |
DE102009055988B3 (de) | 2009-11-20 | 2011-03-17 | Faro Technologies, Inc., Lake Mary | Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung |
DE102009057101A1 (de) | 2009-11-20 | 2011-05-26 | Faro Technologies, Inc., Lake Mary | Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung |
US9210288B2 (en) | 2009-11-20 | 2015-12-08 | Faro Technologies, Inc. | Three-dimensional scanner with dichroic beam splitters to capture a variety of signals |
DE102009055989B4 (de) | 2009-11-20 | 2017-02-16 | Faro Technologies, Inc. | Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung |
US9113023B2 (en) | 2009-11-20 | 2015-08-18 | Faro Technologies, Inc. | Three-dimensional scanner with spectroscopic energy detector |
US9529083B2 (en) | 2009-11-20 | 2016-12-27 | Faro Technologies, Inc. | Three-dimensional scanner with enhanced spectroscopic energy detector |
US9163922B2 (en) | 2010-01-20 | 2015-10-20 | Faro Technologies, Inc. | Coordinate measurement machine with distance meter and camera to determine dimensions within camera images |
US9879976B2 (en) | 2010-01-20 | 2018-01-30 | Faro Technologies, Inc. | Articulated arm coordinate measurement machine that uses a 2D camera to determine 3D coordinates of smoothly continuous edge features |
WO2011090891A1 (en) | 2010-01-20 | 2011-07-28 | Faro Technologies, Inc. | Display for coordinate measuring machine |
US9628775B2 (en) | 2010-01-20 | 2017-04-18 | Faro Technologies, Inc. | Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations |
US9607239B2 (en) | 2010-01-20 | 2017-03-28 | Faro Technologies, Inc. | Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations |
DE102010020925B4 (de) | 2010-05-10 | 2014-02-27 | Faro Technologies, Inc. | Verfahren zum optischen Abtasten und Vermessen einer Umgebung |
DE102010032726B3 (de) | 2010-07-26 | 2011-11-24 | Faro Technologies, Inc. | Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung |
DE102010032725B4 (de) | 2010-07-26 | 2012-04-26 | Faro Technologies, Inc. | Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung |
DE102010032723B3 (de) | 2010-07-26 | 2011-11-24 | Faro Technologies, Inc. | Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung |
DE102010033561B3 (de) | 2010-07-29 | 2011-12-15 | Faro Technologies, Inc. | Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung |
US9168654B2 (en) | 2010-11-16 | 2015-10-27 | Faro Technologies, Inc. | Coordinate measuring machines with dual layer arm |
CN102313557B (zh) * | 2011-04-11 | 2013-09-25 | 广东省计量科学研究院 | 手持式激光测距仪检校仪 |
US8711222B2 (en) | 2011-04-27 | 2014-04-29 | Georgetown Rail Equipment Company | Method and system for calibrating laser profiling systems |
DE102011053212B3 (de) * | 2011-09-02 | 2012-10-04 | Sick Ag | Optoelektronischer Sensor und Verfahren zur Erfassung von Objekten in einem Überwachungsbereich |
JP5798632B2 (ja) * | 2011-10-03 | 2015-10-21 | 株式会社日立製作所 | 現場管理方法および現場管理装置 |
US20150009486A1 (en) * | 2011-10-11 | 2015-01-08 | Alexander Potemkin | Imaging System |
DE102012100609A1 (de) | 2012-01-25 | 2013-07-25 | Faro Technologies, Inc. | Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung |
DE102012102651B3 (de) * | 2012-03-27 | 2013-07-18 | Jenoptik Robot Gmbh | Prüfvorrichtung und Prüfverfahren für ein Verkehrsüberwachungsgerät mit einem Laserscanner |
JP6111618B2 (ja) * | 2012-06-29 | 2017-04-12 | 株式会社リコー | レーザ装置の光軸調整装置及び光軸調整方法 |
JP6264718B2 (ja) * | 2012-06-29 | 2018-01-24 | 株式会社リコー | レーザレーダの調整方法 |
US8997362B2 (en) | 2012-07-17 | 2015-04-07 | Faro Technologies, Inc. | Portable articulated arm coordinate measuring machine with optical communications bus |
KR101380888B1 (ko) * | 2012-07-24 | 2014-04-02 | 현대모비스 주식회사 | 차간 거리 산출 장치 및 방법 |
DE102012107544B3 (de) | 2012-08-17 | 2013-05-23 | Faro Technologies, Inc. | Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung |
US9551784B2 (en) * | 2012-09-04 | 2017-01-24 | Honeywell International Inc. | Intrusion detection |
DE102012109481A1 (de) | 2012-10-05 | 2014-04-10 | Faro Technologies, Inc. | Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung |
US9513107B2 (en) | 2012-10-05 | 2016-12-06 | Faro Technologies, Inc. | Registration calculation between three-dimensional (3D) scans based on two-dimensional (2D) scan data from a 3D scanner |
US10067231B2 (en) | 2012-10-05 | 2018-09-04 | Faro Technologies, Inc. | Registration calculation of three-dimensional scanner data performed between scans based on measurements by two-dimensional scanner |
FI124723B (en) * | 2014-02-11 | 2014-12-31 | Suokas Avionics Oy | An airplane security procedure and a method to identify the type of landing platform |
US9233568B1 (en) | 2014-06-25 | 2016-01-12 | Xerox Corporation | Cross-process direction uniformity for wide format printers |
TWI557393B (zh) * | 2015-10-08 | 2016-11-11 | 微星科技股份有限公司 | 雷射測距校正方法與應用此方法的裝置 |
DE102015122844A1 (de) | 2015-12-27 | 2017-06-29 | Faro Technologies, Inc. | 3D-Messvorrichtung mit Batteriepack |
US10627490B2 (en) | 2016-01-31 | 2020-04-21 | Velodyne Lidar, Inc. | Multiple pulse, LIDAR based 3-D imaging |
CN105825050B (zh) * | 2016-03-11 | 2018-04-06 | 四川川大智胜软件股份有限公司 | 一种实现自行高炮多轴线一致性检查的方法 |
EP3430428A4 (en) | 2016-03-19 | 2019-11-20 | Velodyne Lidar, Inc. | INTEGRATED LIGHTING AND DETECTION FOR 3D IMAGING BASED ON LIDAR |
KR102384875B1 (ko) * | 2016-05-11 | 2022-04-08 | 삼성전자주식회사 | 거리 센서의 칼리브레이션 방법, 장치 및 시스템 |
US10393877B2 (en) | 2016-06-01 | 2019-08-27 | Velodyne Lidar, Inc. | Multiple pixel scanning LIDAR |
JP6773503B2 (ja) * | 2016-09-27 | 2020-10-21 | 株式会社トプコン | レーザスキャナシステム及び点群データのレジストレーション方法 |
CA3057988A1 (en) | 2017-03-31 | 2018-10-04 | Velodyne Lidar, Inc. | Integrated lidar illumination power control |
CN115575928A (zh) | 2017-05-08 | 2023-01-06 | 威力登激光雷达美国有限公司 | Lidar数据获取与控制 |
CN109387850A (zh) * | 2017-08-02 | 2019-02-26 | 松下知识产权经营株式会社 | 距离测定装置 |
WO2019037129A1 (en) * | 2017-08-25 | 2019-02-28 | Beijing Didi Infinity Technology And Development Co., Ltd. | METHODS AND SYSTEMS FOR DETECTING ENVIRONMENTAL INFORMATION OF A VEHICLE |
US11294041B2 (en) * | 2017-12-08 | 2022-04-05 | Velodyne Lidar Usa, Inc. | Systems and methods for improving detection of a return signal in a light ranging and detection system |
CN109917194A (zh) * | 2017-12-13 | 2019-06-21 | 清华四川能源互联网研究院 | 一种用于无线充电测试系统的自动激光距离校准套件 |
JP7097709B2 (ja) * | 2018-02-01 | 2022-07-08 | 株式会社トプコン | 測量システム |
CN108759862B (zh) * | 2018-04-16 | 2023-11-14 | 西安微普光电技术有限公司 | 一种多光轴自动校准系统及方法 |
FI128636B (en) * | 2018-06-28 | 2020-09-15 | Angular Velocity Oy | METHOD AND SYSTEM FOR CALIBRATION OF THE SENSOR |
US11971507B2 (en) | 2018-08-24 | 2024-04-30 | Velodyne Lidar Usa, Inc. | Systems and methods for mitigating optical crosstalk in a light ranging and detection system |
TWI734932B (zh) * | 2018-09-17 | 2021-08-01 | 為昇科科技股份有限公司 | 雷達偵測角度校正系統及其方法 |
US10712434B2 (en) | 2018-09-18 | 2020-07-14 | Velodyne Lidar, Inc. | Multi-channel LIDAR illumination driver |
US11536845B2 (en) * | 2018-10-31 | 2022-12-27 | Waymo Llc | LIDAR systems with multi-faceted mirrors |
US11082010B2 (en) | 2018-11-06 | 2021-08-03 | Velodyne Lidar Usa, Inc. | Systems and methods for TIA base current detection and compensation |
US11885958B2 (en) | 2019-01-07 | 2024-01-30 | Velodyne Lidar Usa, Inc. | Systems and methods for a dual axis resonant scanning mirror |
CN109737988B (zh) * | 2019-01-23 | 2020-07-28 | 华晟(青岛)智能装备科技有限公司 | 一种自动导引运输车的激光导航仪一致性校准方法 |
US10613203B1 (en) | 2019-07-01 | 2020-04-07 | Velodyne Lidar, Inc. | Interference mitigation for light detection and ranging |
CN110412613B (zh) * | 2019-08-02 | 2021-08-10 | 上海智蕙林医疗科技有限公司 | 基于激光的测量方法、移动装置、计算机设备和存储介质 |
DE102019122654A1 (de) * | 2019-08-22 | 2021-02-25 | M & H Inprocess Messtechnik Gmbh | Vorrichtung zur Kalibrierung einer Geschwindigkeit einer Bewegungsachse einer Maschine |
DE202020103821U1 (de) | 2020-07-02 | 2021-10-06 | Sick Ag | Sensorvorrichtung |
DE102020117428A1 (de) | 2020-07-02 | 2022-01-05 | Sick Ag | Sensorvorrichtung und Ausrichtverfahren |
DE102020005762B4 (de) * | 2020-09-21 | 2023-10-12 | Daimler Truck AG | Verfahren zum Kalibrieren einer Beleuchtungseinrichtung und eines optischen Sensors, Steuereinrichtung zur Durchführung eines solchen Verfahrens, Kalibrierungsvorrichtung mit einer solchen Steuereinrichtung sowie Kraftfahrzeug mit einer solchen Kalibrierungsvorrichtung |
CN112379386B (zh) * | 2020-09-30 | 2024-01-02 | 中国人民解放军陆军炮兵防空兵学院 | 一种无人蜂群目标空间位置分布探测系统及方法 |
CN113419251B (zh) * | 2021-05-17 | 2023-07-18 | 重庆大学 | 基于激光反射的姿态识别、编解码及通信方法 |
CN113916775B (zh) * | 2021-08-26 | 2024-05-03 | 中国工程物理研究院激光聚变研究中心 | 一种高辨识度漫反射靶 |
CN114485482B (zh) * | 2022-03-04 | 2023-06-16 | 南京铖联激光科技有限公司 | 一种振镜扫描系统的校准模块 |
US20240151837A1 (en) * | 2022-11-08 | 2024-05-09 | Seegrid Corporation | Method and system for calibrating a light-curtain |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH08145668A (ja) * | 1994-11-16 | 1996-06-07 | Nec Corp | 走査型レーザ測量装置 |
JPH10300493A (ja) * | 1997-04-28 | 1998-11-13 | Honda Motor Co Ltd | 車両位置推定装置と車両位置推定方法、および、走行車線維持装置と走行車線維持方法 |
JP2000329853A (ja) * | 1999-05-21 | 2000-11-30 | Nissan Motor Co Ltd | レーダ送信方向ずれ検出装置 |
JP2002055718A (ja) * | 2000-08-11 | 2002-02-20 | Meidensha Corp | 無人車位置検出方式 |
JP2003215244A (ja) * | 2002-01-18 | 2003-07-30 | Omron Corp | 測距装置の軸調整用ターゲット及び軸調整方法 |
JP2008087676A (ja) * | 2006-10-03 | 2008-04-17 | National Institute Of Advanced Industrial & Technology | 移動物体の指標位置への相対角度及び位置計測方法及び、それを利用した駐車支援方法及びシステム |
Family Cites Families (29)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5455669A (en) | 1992-12-08 | 1995-10-03 | Erwin Sick Gmbh Optik-Elektronik | Laser range finding apparatus |
JP3908297B2 (ja) * | 1996-03-19 | 2007-04-25 | 株式会社トプコン | レーザ測量機 |
US5831719A (en) * | 1996-04-12 | 1998-11-03 | Holometrics, Inc. | Laser scanning system |
US5988862A (en) | 1996-04-24 | 1999-11-23 | Cyra Technologies, Inc. | Integrated system for quickly and accurately imaging and modeling three dimensional objects |
US5770864A (en) * | 1996-12-31 | 1998-06-23 | Pitney Bowes Inc. | Apparatus and method for dimensional weighing utilizing a laser scanner or sensor |
JPH10308598A (ja) | 1997-05-06 | 1998-11-17 | Matsushita Electric Ind Co Ltd | スキャン型センサのキャリブレーション方法 |
JP2000194983A (ja) | 1998-12-28 | 2000-07-14 | Nichireki Co Ltd | 路面沿道撮影車 |
FI112402B (fi) | 1999-10-28 | 2003-11-28 | Diware Oy | Menetelmä puustotunnusten määrittämiseksi sekä tietokoneohjelma menetelmän suorittamiseksi |
JP4486737B2 (ja) | 2000-07-14 | 2010-06-23 | アジア航測株式会社 | モービルマッピング用空間情報生成装置 |
US6608913B1 (en) | 2000-07-17 | 2003-08-19 | Inco Limited | Self-contained mapping and positioning system utilizing point cloud data |
DE10124433A1 (de) * | 2001-05-18 | 2002-11-21 | Bosch Gmbh Robert | Vorrichtung zur optischen Distanzmessung |
US6759979B2 (en) | 2002-01-22 | 2004-07-06 | E-Businesscontrols Corp. | GPS-enhanced system and method for automatically capturing and co-registering virtual models of a site |
JP3937154B2 (ja) | 2002-06-28 | 2007-06-27 | 株式会社トプコン | 位置検出装置 |
JP4247371B2 (ja) | 2002-07-05 | 2009-04-02 | 財団法人生産技術研究奨励会 | 三次元データ取得装置 |
EP1662228A1 (en) | 2004-11-19 | 2006-05-31 | Harman Becker Automotive Systems GmbH | Scanning of three-dimensional objects |
EP1556823B1 (en) | 2002-07-10 | 2020-01-01 | Harman Becker Automotive Systems GmbH | System for generating three-dimensional electronic models of objects |
JP2004163292A (ja) | 2002-11-13 | 2004-06-10 | Topcon Corp | 測量装置と電子的記憶媒体 |
JP2004317237A (ja) | 2003-04-15 | 2004-11-11 | Topcon Corp | 測量装置 |
JP2004361315A (ja) | 2003-06-06 | 2004-12-24 | Nissan Motor Co Ltd | レーダ装置 |
JP2005055311A (ja) | 2003-08-05 | 2005-03-03 | Yaskawa Electric Corp | スキャナ装置のキャリブレーション方法 |
US8050491B2 (en) | 2003-12-17 | 2011-11-01 | United Technologies Corporation | CAD modeling system and method |
JP4102324B2 (ja) | 2004-03-29 | 2008-06-18 | 株式会社トプコン | 測量データ処理システム、測量データ処理プログラム及び電子地図表示装置 |
US7804498B1 (en) | 2004-09-15 | 2010-09-28 | Lewis N Graham | Visualization and storage algorithms associated with processing point cloud data |
US7228230B2 (en) | 2004-11-12 | 2007-06-05 | Mitsubishi Denki Kabushiki Kaisha | System for autonomous vehicle navigation with carrier phase DGPS and laser-scanner augmentation |
JP4890924B2 (ja) * | 2006-04-27 | 2012-03-07 | オムロンオートモーティブエレクトロニクス株式会社 | レーダ装置 |
JP5073256B2 (ja) | 2006-09-22 | 2012-11-14 | 株式会社トプコン | 位置測定装置及び位置測定方法及び位置測定プログラム |
JP5057734B2 (ja) | 2006-09-25 | 2012-10-24 | 株式会社トプコン | 測量方法及び測量システム及び測量データ処理プログラム |
JP5466807B2 (ja) * | 2006-09-26 | 2014-04-09 | 株式会社トプコン | レーザスキャナ |
JP5688876B2 (ja) | 2008-12-25 | 2015-03-25 | 株式会社トプコン | レーザスキャナ測定システムの較正方法 |
-
2008
- 2008-12-25 JP JP2008331412A patent/JP5688876B2/ja active Active
-
2009
- 2009-12-11 US US12/653,356 patent/US8310653B2/en active Active
-
2012
- 2012-04-18 US US13/449,389 patent/US8355118B2/en active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH08145668A (ja) * | 1994-11-16 | 1996-06-07 | Nec Corp | 走査型レーザ測量装置 |
JPH10300493A (ja) * | 1997-04-28 | 1998-11-13 | Honda Motor Co Ltd | 車両位置推定装置と車両位置推定方法、および、走行車線維持装置と走行車線維持方法 |
JP2000329853A (ja) * | 1999-05-21 | 2000-11-30 | Nissan Motor Co Ltd | レーダ送信方向ずれ検出装置 |
JP2002055718A (ja) * | 2000-08-11 | 2002-02-20 | Meidensha Corp | 無人車位置検出方式 |
JP2003215244A (ja) * | 2002-01-18 | 2003-07-30 | Omron Corp | 測距装置の軸調整用ターゲット及び軸調整方法 |
JP2008087676A (ja) * | 2006-10-03 | 2008-04-17 | National Institute Of Advanced Industrial & Technology | 移動物体の指標位置への相対角度及び位置計測方法及び、それを利用した駐車支援方法及びシステム |
Cited By (67)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9671094B2 (en) | 2010-07-22 | 2017-06-06 | Renishaw Plc | Laser scanning apparatus and method of use |
JP2013539531A (ja) * | 2010-07-22 | 2013-10-24 | レニショウ パブリック リミテッド カンパニー | レーザ走査装置および使用方法 |
US8907792B2 (en) | 2011-04-28 | 2014-12-09 | Sick Ag | Theft protection device and method for the detection of unauthorized intrusion or entrance |
JP2012234527A (ja) * | 2011-04-28 | 2012-11-29 | Sick Ag | 窃盗防止装置並びに不正な干渉及び侵入の認識方法 |
JP2014020978A (ja) * | 2012-07-20 | 2014-02-03 | Fujitsu Ltd | 照射装置、距離測定装置、照射装置のキャリブレーションプログラム及びキャリブレーション方法 |
JP2014109686A (ja) * | 2012-12-03 | 2014-06-12 | Hokuyo Automatic Co | 偏向装置、光走査装置及び走査式測距装置 |
JP2014173990A (ja) * | 2013-03-08 | 2014-09-22 | Topcon Corp | 計測装置 |
WO2016136775A1 (ja) * | 2015-02-24 | 2016-09-01 | 株式会社パスコ | レーザ計測システム、反射ターゲット体及びレーザ計測方法 |
JP2016156676A (ja) * | 2015-02-24 | 2016-09-01 | 株式会社パスコ | レーザ計測システム、反射ターゲット体及びレーザ計測方法 |
US10353072B2 (en) | 2015-06-26 | 2019-07-16 | Topcon Corporation | Laser scanner controlling device, laser scanner controlling method, and laser scanner controlling program |
US11061111B2 (en) | 2015-09-30 | 2021-07-13 | Sony Corporation | Signal processing apparatus, signal processing method, and object detection system |
US11719788B2 (en) | 2015-09-30 | 2023-08-08 | Sony Corporation | Signal processing apparatus, signal processing method, and program |
CN108139475A (zh) * | 2015-09-30 | 2018-06-08 | 索尼公司 | 信号处理设备、信号处理方法和程序 |
US10908257B2 (en) | 2015-09-30 | 2021-02-02 | Sony Corporation | Signal processing apparatus, signal processing method, and program |
WO2017057042A1 (ja) * | 2015-09-30 | 2017-04-06 | ソニー株式会社 | 信号処理装置、信号処理方法、プログラム、および、物体検出システム |
JPWO2017057041A1 (ja) * | 2015-09-30 | 2018-08-09 | ソニー株式会社 | 信号処理装置、信号処理方法、およびプログラム |
WO2017057041A1 (ja) * | 2015-09-30 | 2017-04-06 | ソニー株式会社 | 信号処理装置、信号処理方法、およびプログラム |
US20180259621A1 (en) * | 2015-09-30 | 2018-09-13 | Sony Corporation | Signal processing apparatus, signal processing method, program, and object detection system |
US10670697B2 (en) | 2015-09-30 | 2020-06-02 | Sony Corporation | Signal processing apparatus, signal processing method, and object detection system |
US10705184B2 (en) | 2016-02-29 | 2020-07-07 | Hitachi, Ltd. | Sensor calibration system |
WO2017149813A1 (ja) * | 2016-02-29 | 2017-09-08 | 株式会社日立製作所 | センサキャリブレーションシステム |
JPWO2017149813A1 (ja) * | 2016-02-29 | 2018-09-13 | 株式会社日立製作所 | センサキャリブレーションシステム |
KR101880593B1 (ko) * | 2016-05-03 | 2018-07-20 | 국방과학연구소 | 무인차량의 자율주행을 위한 라이다센서 장치 |
JP2018004401A (ja) * | 2016-06-30 | 2018-01-11 | 株式会社トプコン | レーザスキャナ及びレーザスキャナシステム及び点群データのレジストレーション方法 |
KR101872620B1 (ko) * | 2016-12-05 | 2018-06-28 | 정지성 | 속도 적응형 장애물 감지장치 |
KR20180064242A (ko) * | 2016-12-05 | 2018-06-14 | 정지성 | 속도 적응형 장애물 감지장치 |
CN110121660B (zh) * | 2016-12-30 | 2023-10-03 | 祖克斯有限公司 | 基于参考表面的激光雷达传感器组件校准 |
CN110121660A (zh) * | 2016-12-30 | 2019-08-13 | 帕诺森斯有限公司 | 基于参考表面的激光雷达传感器组件校准 |
EP3370209A1 (en) | 2017-03-02 | 2018-09-05 | Topcon Corporation | Point cloud data processing device, point cloud data processing method, and point cloud data processing program |
US10810699B2 (en) | 2017-03-02 | 2020-10-20 | Topcon Corporation | Point cloud data processing device, point cloud data processing method, and point cloud data processing program |
US10969493B2 (en) | 2017-09-19 | 2021-04-06 | Topcon Corporation | Data processing device, data processing method, and data processing program |
EP3467436A1 (en) | 2017-10-03 | 2019-04-10 | Topcon Corporation | Unmanned aerial vehicle, data processing device, path selection device, processing method and processing program |
US11048276B2 (en) | 2017-10-17 | 2021-06-29 | Topcon Corporation | Measuring device, control device for unmanned aerial vehicle and computer program product for controlling unmanned aerial vehicle |
EP3474109A1 (en) | 2017-10-17 | 2019-04-24 | Topcon Corporation | Measuring device, control device for unmanned aerial vehicle and method for controlling unmanned aerial vehicle |
US11585900B2 (en) | 2017-11-02 | 2023-02-21 | Topcon Corporation | Reflecting prism, measurement target object including reflecting prism, surveying device, coordinate comparing section, surveying method, and surveying processing program |
US11307031B2 (en) | 2017-11-13 | 2022-04-19 | Topcon Corporation | Surveying device, and calibration checking method and calibration checking program for surveying device |
EP3483554A1 (en) | 2017-11-13 | 2019-05-15 | Topcon Corporation | Surveying device, and calibration checking method and calibration checking program for surveying device |
US11460561B2 (en) | 2017-12-05 | 2022-10-04 | Topcon Corporation | Surveying device, and calibration method and calibration program for surveying device |
EP3495769A1 (en) | 2017-12-05 | 2019-06-12 | Topcon Corporation | Surveying device, and calibration method and calibration program for surveying device |
US10755671B2 (en) | 2017-12-08 | 2020-08-25 | Topcon Corporation | Device, method, and program for controlling displaying of survey image |
US11822351B2 (en) | 2017-12-27 | 2023-11-21 | Topcon Corporation | Three-dimensional information processing unit, apparatus having three-dimensional information processing unit, unmanned aerial vehicle, informing device, method and program for controlling mobile body using three-dimensional information processing unit |
EP3506042A1 (en) | 2017-12-27 | 2019-07-03 | Topcon Corporation | Three-dimensional information processing unit, apparatus having three-dimensional information processing unit, unmanned aerial vehicle, informing device, method and program for controlling mobile body using three-dimensional information processing unit |
US11644575B2 (en) | 2018-01-23 | 2023-05-09 | Topcon Corporation | Surveying device and surveying method |
EP3514489A1 (en) | 2018-01-23 | 2019-07-24 | Topcon Corporation | Surveying device and surveying method |
EP3584603A1 (en) | 2018-06-19 | 2019-12-25 | Topcon Corporation | Reflection object position calculating device, reflection object position calculating method, and reflection object position calculating program |
US11703588B2 (en) | 2018-06-19 | 2023-07-18 | Topcon Corporation | Reflection object position calculating device, reflection object position calculating method, and reflection object position calculating program |
US11592291B2 (en) | 2018-07-06 | 2023-02-28 | Topcon Corporation | Method, device, and program for surveying |
EP3591336A1 (en) | 2018-07-06 | 2020-01-08 | Topcon Corporation | Method, device, and program for surveying |
JP2020008531A (ja) * | 2018-07-12 | 2020-01-16 | ファナック株式会社 | 距離補正機能を有する測距装置 |
CN110716210A (zh) * | 2018-07-12 | 2020-01-21 | 发那科株式会社 | 具有距离修正功能的测距装置 |
CN110716210B (zh) * | 2018-07-12 | 2024-01-30 | 发那科株式会社 | 具有距离修正功能的测距装置 |
US11536814B2 (en) | 2018-07-12 | 2022-12-27 | Fanuc Corporation | Distance measuring apparatus having distance correction function |
US10877155B2 (en) | 2018-09-25 | 2020-12-29 | Topcon Corporation | Survey data processing device, survey data processing method, and survey data processing program |
EP3628968A1 (en) | 2018-09-25 | 2020-04-01 | Topcon Corporation | Survey data processing device, survey data processing method, and survey data processing program |
US11048964B2 (en) | 2018-09-28 | 2021-06-29 | Topcon Corporation | Survey data processing device, survey data processing method, and survey data processing program |
EP3628966A1 (en) | 2018-09-28 | 2020-04-01 | Topcon Corporation | Survey data processing device, survey data processing method, and survey data processing program |
WO2020071167A1 (ja) * | 2018-10-01 | 2020-04-09 | パイオニア株式会社 | 光軸調整用装置 |
US11629957B2 (en) | 2019-07-16 | 2023-04-18 | Topcon Corporation | Surveying apparatus |
EP3767231A1 (en) | 2019-07-16 | 2021-01-20 | Topcon Corporation | Surveying apparatus |
EP3771886A1 (en) | 2019-07-30 | 2021-02-03 | Topcon Corporation | Surveying apparatus, surveying method, and surveying program |
US11725938B2 (en) | 2019-07-30 | 2023-08-15 | Topcon Corporation | Surveying apparatus, surveying method, and surveying program |
US11580696B2 (en) | 2019-08-26 | 2023-02-14 | Topcon Corporation | Surveying data processing device, surveying data processing method, and surveying data processing program |
EP3792591A1 (en) | 2019-08-26 | 2021-03-17 | Topcon Corporation | Surveying data processing device, surveying data processing method, and surveying data processing program |
EP3795945A1 (en) | 2019-09-18 | 2021-03-24 | Topcon Corporation | Surveying data processing device, surveying data processing method, and surveying data processing program |
US11619741B2 (en) | 2019-09-18 | 2023-04-04 | Topcon Corporation | Surveying data processing device, surveying data processing method, and surveying data processing program |
CN111238533A (zh) * | 2020-01-09 | 2020-06-05 | 广东博智林机器人有限公司 | 智能校准系统、方法、装置、电子设备及存储介质 |
KR102677939B1 (ko) * | 2022-04-06 | 2024-06-26 | 현대무벡스 주식회사 | 모바일 로봇과 스캐너 간의 캘리브레이션 방법 |
Also Published As
Publication number | Publication date |
---|---|
US8310653B2 (en) | 2012-11-13 |
US8355118B2 (en) | 2013-01-15 |
US20120218546A1 (en) | 2012-08-30 |
US20100256940A1 (en) | 2010-10-07 |
JP5688876B2 (ja) | 2015-03-25 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5688876B2 (ja) | レーザスキャナ測定システムの較正方法 | |
JP6963936B2 (ja) | 測量システム | |
US10921430B2 (en) | Surveying system | |
EP3258212B1 (en) | Surveying system | |
JP4228132B2 (ja) | 位置測定装置 | |
US10895632B2 (en) | Surveying system | |
US11004250B2 (en) | Point cloud data display system | |
US20200141729A1 (en) | Target Instrument And Surveying System | |
US20150042977A1 (en) | Measurement system with a measuring device and a scanning module | |
KR20100019576A (ko) | 거리 센서 시스템 및 방법 | |
JP7313955B2 (ja) | 測量装置、測量方法および測量用プログラム | |
US20150092181A1 (en) | Measuring Method And Measuring Instrument | |
JP2019039863A (ja) | 測量システム | |
US20230305152A2 (en) | Three-dimensional survey apparatus, three-dimensional survey method, and three-dimensional survey program | |
JP6680628B2 (ja) | レーザスキャナ | |
US11828931B2 (en) | Scanner system and scan method | |
US10895456B1 (en) | Three-dimensional survey apparatus, three-dimensional survey method, and three-dimensional survey program | |
US20210080577A1 (en) | Three-dimensional survey apparatus, three-dimensional survey method, and three-dimensional survey program | |
JP7001800B2 (ja) | 測量システム | |
JP6913422B2 (ja) | 測量システム | |
JP6749191B2 (ja) | スキャナ装置および測量装置 | |
US20210270602A1 (en) | Angle detection system and angle detection method | |
JP2020020716A (ja) | モノポール基盤及び測量システム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20111206 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20130131 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20130205 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20130408 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20140128 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20140331 |
|
A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 20140826 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20141126 |
|
A911 | Transfer to examiner for re-examination before appeal (zenchi) |
Free format text: JAPANESE INTERMEDIATE CODE: A911 Effective date: 20141204 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20150120 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20150127 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 5688876 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |