WO2010066698A1 - Système de mesure de locaux et/ou d'objets - Google Patents

Système de mesure de locaux et/ou d'objets Download PDF

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Publication number
WO2010066698A1
WO2010066698A1 PCT/EP2009/066561 EP2009066561W WO2010066698A1 WO 2010066698 A1 WO2010066698 A1 WO 2010066698A1 EP 2009066561 W EP2009066561 W EP 2009066561W WO 2010066698 A1 WO2010066698 A1 WO 2010066698A1
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WO
WIPO (PCT)
Prior art keywords
distance
measuring device
camera
distance measuring
image information
Prior art date
Application number
PCT/EP2009/066561
Other languages
German (de)
English (en)
Inventor
Matthias Roland
Sebastian Jackisch
Alexander Fietz
Original Assignee
Robert Bosch Gmbh
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
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Priority to EP09768525A priority Critical patent/EP2376868A1/fr
Priority to CN2009801494307A priority patent/CN102246002A/zh
Publication of WO2010066698A1 publication Critical patent/WO2010066698A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means

Definitions

  • Measuring system for measuring rooms and / or objects
  • the present invention relates to a measuring system for measuring rooms and / or objects, comprising at least one hand-held, non-contact measuring distance measuring device, in particular a laser rangefinder, and at least one evaluation unit.
  • the three-dimensional measurement of rooms is, especially for craftsmen and architects, of great interest to capture as quickly as possible the actual state of spaces and planning based on the detected actual state of upcoming work, such as the construction of kitchens, the Installation of windows, the interior of the room etc.
  • laser rangefinders For carrying out such three-dimensional surveying of rooms, handheld, contactless distance measuring devices are nowadays mostly used, in particular laser rangefinders. These are distinguished from conventional mechanical measuring devices, such as tape measures and yardsticks, in particular by the fact that distance measurements can be carried out conveniently and quickly.
  • laser rangefinders normally include an integral evaluation unit, which allows further processing of the acquired measurement data.
  • evaluation units can be designed such that they allow a computational linkage of individual distance measurements. In other words, single-distance measurements may be added to obtain a total distance from a plurality of detected pitches, multiplied together to calculate areas or volumes, stored, etc.
  • many of the evaluation units allow indirect length measurements to be taken over assumed right-hand numbers Angle or integrated inertial sensor.
  • the indirect length measurement is based on the assumption that the distance measuring device does not undergo translational movement between the measurements from which the length is indirectly calculated. The user is thus forced to hold the distance measuring device fixed at a position and to perform only a rotational movement between the measuring points by the distance measuring device is rotated, for example, from the wrist. This makes such indirect length measurements very error prone.
  • the floor plan of a room is to be recorded with the aid of a laser range finder
  • the plan of the room is usually sketched manually or with the aid of a corresponding computer program.
  • the individual dimensions of the room are then recorded in succession with the help of the laser rangefinder, whereby the acquired measurement data are entered in the previously created sketch. Once the exact measurement data is available, then the sketch can be specified manually or automatically using a computer.
  • the measurement system should enable indirect length measurements, in which the user can move the distance measuring device either rotationally or translatorily between the individual distance measurements that are required for indirect length measurement, without this affecting the measurement result.
  • the measuring system comprises an omnidirectional camera arranged on the distance measuring device, that is to say a camera which is capable of taking pictures from all directions in a range from approximately 270 ° to 360 ° both horizontally and vertically. Alternatively, several cameras can be used that cover this image area.
  • the evaluation unit is set up in such a way that it determines the position and orientation of the distance measuring device at the time of a distance measurement based on the image information recorded by the camera, generates corresponding position and orientation data and associates these with the distance measurement.
  • the position and orientation of the distance measuring device in space are determined for each distance measurement, so that data sets are generated can each consist of measurement data, position data and alignment data. If these data records are transferred to a virtual three-dimensional coordinate system, unique, mutually related vectors are obtained whose origin is defined by the position data, whose direction is defined by the orientation data and whose length by the measurement data. Accordingly, the distance between two measurement points can be easily calculated using appropriate algorithms, wherein the movement of the measuring device between two individual measurements is completely irrelevant. Also, a plurality of individual measurements can be linked together in such a way that the creation of a CAD model of the space and / or the object is readily possible using appropriate algorithms.
  • the distance measuring device is advantageously such that it can perform single distance measurements and / or continuous distance measurements.
  • the camera is advantageously designed to be capable of video. If the distance measuring device and the camera are operated in continuous mode, a very high measuring density can be achieved, whereby the accuracy of the measurement result is correspondingly increased.
  • the evaluation unit is preferably set up such that the position and orientation of the distance measuring device at the time of a distance measurement can be determined on the basis of landmarks present in the image information.
  • Landmarks are local distinctive feature points that are insensitive to perspective distortions. Markant are points in the room whose characteristics deviate from their background. These landmarks can be natural landmarks, such as a door frame, a window frame or the like, so to striking spatial points that are already present in the room. Alternatively, however, artificial landmarks can also be used.
  • the measuring system for generating such artificial landmarks comprises a projection unit separate from the distance measuring device and adapted to emit electromagnetic landmark-generating electromagnetic radiation, the camera being adapted to detect these artificial landmarks can.
  • the evaluation unit is advantageously set up in such a way that it can create a CAD model of the space and / or object based on the distance measurements carried out by the distance measuring device and position and orientation data assigned to these distance measurements, wherein the creation preferably takes place automatically.
  • the distance, position and orientation data can be transmitted successively to the evaluation unit and linked there to produce a CAD model.
  • the individual data can also be collected first and transmitted to the evaluation unit for further processing after completion of the measurements.
  • the evaluation unit is a unit integrated in the distance measuring device and / or a specially designed separate unit and / or a conventional laptop, PDA; Landline computer, a mobile phone or the like can act.
  • wired or wireless interfaces are provided, such as Bluetooth, UWB, WLAN, etc.
  • the evaluation unit is advantageously set up in such a way that it can texture surfaces of the CAD model based on the image information recorded by the camera. For example, initially only a small texture area can be selected around the respective measurement points. The texturing of the entire object and / or space is then done subsequently by the meshing of the measured spatial points to form a polygon mesh, for example triangles, and the mapping of the resulting spatial polygons with the collected texture sections, which are taken from the image information. In this way, for example, a closet can subsequently be inserted in detail into an already roughly modeled wall of the CAD model.
  • the evaluation unit is also advantageously set up such that it can automatically classify objects recorded with the camera and / or measured with the distance measuring device on the basis of the image information and / or distance measurements.
  • a classification of objects within a room can be greatly simplified, in particular in the continuous measuring mode of the measuring system.
  • An additional speech recognition which can be realized by a preferably provided speech recognition unit, could provide additional information in the classification of objects.
  • the circumference of a door or a window could be marked with the continuous laser of a laser rangefinder and at the same time the type of the object could be registered by voice recognition.
  • the distance measuring device preferably comprises at least one inertial measuring unit, which simplifies the tracking, ie the tracking of the position and orientation of the distance measuring device.
  • the distance measuring device can have a lighting unit that uniformly illuminates the receiving area of the camera at the time of performing a measurement. Accordingly, the texturing of the area taken by the camera can be improved.
  • the distance measuring device preferably has a display as communication interface with the user.
  • a display for example, one can graphically represent that spatial and / or object region which has already been measured successfully using the system according to the invention. Accordingly, the user can directly read which measurements are still required to complete a CAD model.
  • the present invention provides a method for measuring a space and / or an object using a measuring system of the type described above.
  • the method preferably comprises the steps of: performing a series of single distance measurements required to measure the space and / or object using the distance meter; Taking a camera image using the camera at those times at which a single distance measurement is performed; Determining the position and orientation of the distance measuring device at the time of each distance measurement based on the image information recorded by the camera; Generating appropriate location and orientation data; Associating the position and orientation data with the respective distance measurements; and generating a CAD model of the space and / or object based on the individual distance measurements with the associated position and orientation data using predetermined algorithms, wherein the CAD model may be a two- or three-dimensional model, such as one Floor plan of a room or a three-dimensional line representation of a room.
  • the method preferably comprises the steps of: performing at least one continuous distance measurement, which is required for measuring the space and / or object, using the distance measuring device; Recording a video the image using the camera over the period of time during which the continuous distance measurement is performed; Determining the position and orientation of the distance measuring device at the times of the continuous distance measurement based on the image information recorded by the camera; Generating corresponding position and orientation data; Associating the position and orientation data with the respective distance measurements made at the respective times, and generating a CAD model of the space and / or object based on the distance measurements with the associated position and orientation data using predetermined algorithms.
  • the position and orientation of the distance measuring device at the time of a distance measurement are preferably determined on the basis of existing in the image information natural and / or generated by means of the projection unit artificial landmarks.
  • the use of artificial landmarks is advantageous in that the generated artificial landmarks produce patterns known to the measurement system (eg, encoded circular measurement marks or the like). Accordingly, in contrast to the use of natural landmarks, it is not necessary to carry out a brief initialization phase before each measurement, in which landmarks are naturally detected, tracked and converted into 3D coordinates, which are then retrieved as natural landmarks in the measurement phase and linked as linkages Control points are used.
  • the position and orientation of the distance measuring device are preferably determined at the time of a distance measurement supported by measurement results of the initial measuring unit.
  • the surfaces of the CAD model are preferably textured based on the image information captured by the camera, as desired.
  • objects recorded with the camera are advantageously automatically classified on the basis of the image information, as has already been described above.
  • a classification may be supported by user-entered voice commands, which are automatically processed by the voice recognition unit.
  • the image capture area of the camera is preferably illuminated with the aid of the illumination unit during the acquisition of image information in order to enable texturing independent of the ambient light.
  • Figure 1 is a schematic view of an integrated omnidirectional camera aufwindenden distance measuring device of a measuring system according to an embodiment of the present invention
  • FIG. 2 is a schematic view showing a camera image taken with the omnidirectional camera shown in FIG. 1;
  • Figure 3 is a schematic view of a room, based on which the localization principle of the measuring system is explained;
  • Figure 4 is a schematic view of a room, on the basis of which the implementation of an indirect length measurement using the measuring system is explained;
  • Figure 5 is a schematic plan view of a room, on the basis of which the measurement of a space is explained using the measuring system;
  • Figure 6 is a schematic view of a room, on the basis of which the spatial representation of a level and Pro spascanns the space is explained using the measuring system;
  • Figure 7 is a schematic view of a room, on the basis of which an object classification using the measuring system will be explained.
  • the measuring system 10 for surveying rooms and / or objects comprises a hand-held, non-contact measuring distance measuring device 12, a video-capable camera 14 arranged on the distance measuring device 12 and provided separately from the distance measuring device 12 Projection unit 16 and an evaluation unit 18 in the form of a laptop, which can exchange data with the distance measuring device 12 via a wired or wireless interface, not shown.
  • the distance measuring device 12 is provided in the form of a laser rangefinder, which can optionally perform individual measurements or continuous distance measurements. Furthermore, the laser range finder can be used as a laser pointer.
  • the camera 14 is an omnidirectional camera capable of taking images from all directions in a range of about 270 ° to 360 ° both horizontally and vertically. Alternatively, of course, several cameras can be used that cover this image area.
  • Figure 2 shows an example of the inclusion of an elongated hallway on which the walls 20 and the ceiling 22 of the hallway and continue to see the doors 24, door plates 26, pictures 28, lamps 30, etc.
  • the camera 14 can record both single shots and video sequences.
  • a calibration is carried out in advance. This can be realized as factory calibration. The result of such a calibration is the parameter set which describes the exact position and orientation of the laser rangefinder with respect to the camera projection center.
  • the projection unit 16 comprises four light sources, not shown in more detail, for example in the form of LEDs or the like, which emit bundled light beams in each case.
  • the projection unit 16 can be fixed by means not shown in detail on a wall of a room.
  • the projection unit 16 may have a plug for plugging into an outlet present on the wall, thereby simultaneously ensuring the energy supply of the projection unit 16.
  • the projection unit 16 may also be attached to a wall by other means.
  • the projection unit 16 may alternatively or additionally have a self-sufficient energy source, for example in the form of batteries, a rechargeable battery or the like. It should be understood that the projection unit 16 may include a different number of light sources, for example three or five, instead of four light sources.
  • FIG. 3 shows a schematic view of a room 32 with walls 34, 36, 38, a floor 40 and a ceiling 42.
  • the projection unit 16 is arranged on the wall 34 of the room 32.
  • the projection unit 16 is oriented in such a way that its light sources emit light beams, which are shown by dashed lines in FIG. 3 and identified by the reference numbers 44, 46, 48 and 50, in the direction of the ceiling 42 of the room 32, so that light points 52 on the ceiling 42 , 54, 56 and 58, which form a predetermined spot pattern.
  • the image information recorded by the camera 14 contains inter alia the light points 52, 54, 56 and 58 which are projected by the projection unit 16 to the ceiling 42 of the room 32.
  • the position and orientation of the distance measuring device with respect to a virtual coordinate system 60 can now be calculated by means of suitable algorithms which are stored in the evaluation unit 18 because the light spot pattern generated by the light spots 52, 54, 56 and 58 is known.
  • a vector 62 can be calculated, the origin of the vector 62 being determined by the position data, the direction of the vector 62 is defined by the alignment data and the length of the vector 62 by the distance measurement.
  • a plurality of measurements based on the virtual coordinate system 62 can be assigned to each other, so that it is possible to automatically use a CAD model of the space 32 using the evaluation unit 18 based on a plurality of individual measurements or based on suitable algorithms to create one or more continuous measurements.
  • This CAD model can be a two-dimensional or three-dimensional model. For example, a floor plan of the room 32, a three-dimensional line model of the room 32, etc. can be generated.
  • natural landmarks may also be used to determine the position and orientation data based on the image information of the camera 14.
  • a short initialization phase must be carried out prior to each measurement of a room in order to detect and track natural landmarks and to convert them into SD coordinates of a virtual coordinate system.
  • these natural landmarks would be retrieved based on the image information of the camera 14 and used as link or control points. Excluded lent such natural landmarks for detecting the positions and orientations of the distance measuring device 12 used within a space 32, so can be dispensed with the projection unit 16 accordingly.
  • the following describes how indirect length measurements can be carried out using the measuring system 10 described above.
  • the distances to three measurement points 64, 66 and 68 on the wall 38 are determined by determining the associated position and orientation data of the distance measuring device 12 at the time of each measurement three vectors 70, 72 and 74 with respect to the virtual coordinate system 62. Since the end points of the vectors 70, 72 and 74 and thus the positions of the measuring points 64, 66 and 68 are known, it arithmetically no problem to set the lengths li, I 2 and I 3 between the respective measuring points 64, 66 and 68 to determine.
  • An advantage of this indirect length measuring method is in particular that it is completely irrelevant in which form the distance measuring device 12 is moved between the individual distance measurements. Translational movements can not affect the measurement result in contrast to the known indirect length measuring method accordingly.
  • the user To measure an entire room, the user, as shown schematically in Figure 5, moves with the distance measuring device 12 and the camera 14 held therethrough through the space 76, wherein he either a plurality of single distance measurements or one or more continuous distance measurements with the Distance measuring device 12 performs, as shown in Figure 6 by way of example with reference to the horizontal continuous measurement line 78 and the vertical continuous measurement line 80. Based on the measurement, position and orientation data thus recorded, a CAD model of room 76 can then be automatically created, as previously described.
  • the classification of objects within a room can also be greatly simplified, as shown schematically in FIG.
  • the contours of certain objects in this case the door 82
  • An additional speech recognition could additionally be used in the classification.
  • the perimeter of the door 82 could be marked with the continuous laser of the distance meter 12, and at the same time the type of object of speech recognition could be registered, for example, the door 82 being outlined as shown by the measurement line 84 and the user's announcement: "Door.”
  • One Fine localization of the outlined object can then be carried out, for example, at a later time on the basis of the image information recorded with the camera 14.
  • the evaluation unit 18 is designed such that, in addition to a classification of objects, it allows their texturing.
  • Coarse texturing of a wall may, for example, be done by first virtually spanning the wall based on distance measurements to three wall points. The corresponding texture can then be recorded synchronously with the camera 14 and inserted at a later time via a projection in the CAD model. With the use of the distance measuring device 12 in the continuous distance measuring mode, more complex structures can be scanned in any degree of detail. The corresponding texture can be removed again from the synchronized camera images. Initially, only a small texture area is selected around the respective measuring point.
  • the texturing of the entire object is done later by the meshing of the measured spatial points to a polygon mesh, for example, triangles, and the assignment of the resulting polygons with the collected texture sections.
  • a polygon mesh for example, triangles
  • a closet can subsequently be inserted in detail into an already roughly modeled wall.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Multimedia (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

L'invention concerne un système de mesure (10) destiné à mesurer des locaux (32) et/ou des objets et comprenant au moins un appareil (12) de mesure de distance sans contact porté à la main et au moins une unité d'évaluation (18), le système de mesure (10) présentant une caméra omnidirectionnelle (14) disposée sur l'appareil (12) de mesure de distance et l'unité d'évaluation (18) étant conçue pour déterminer la position et l'orientation de l'appareil (12) de mesure de distance à l'instant d'une mesure de distance sur la base d'informations d'images enregistrées par la caméra (14), pour former des données appropriées de position et d'orientation et les associer à la mesure de distance.
PCT/EP2009/066561 2008-12-10 2009-12-08 Système de mesure de locaux et/ou d'objets WO2010066698A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP09768525A EP2376868A1 (fr) 2008-12-10 2009-12-08 Système de mesure de locaux et/ou d'objets
CN2009801494307A CN102246002A (zh) 2008-12-10 2009-12-08 用于测量空间和/或对象的测量系统

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200810054453 DE102008054453A1 (de) 2008-12-10 2008-12-10 Messsystem zur Vermessung von Räumen und/oder von Objekten
DE102008054453.1 2008-12-10

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Publication Number Publication Date
WO2010066698A1 true WO2010066698A1 (fr) 2010-06-17

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PCT/EP2009/066561 WO2010066698A1 (fr) 2008-12-10 2009-12-08 Système de mesure de locaux et/ou d'objets

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EP (1) EP2376868A1 (fr)
CN (1) CN102246002A (fr)
DE (1) DE102008054453A1 (fr)
WO (1) WO2010066698A1 (fr)

Cited By (4)

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EP3093685A1 (fr) * 2015-05-12 2016-11-16 Siemens AG Österreich Procédé de mesure d'un point dans un objet tridimensionnel
DE102010043136B4 (de) * 2010-10-29 2018-10-31 Hilti Aktiengesellschaft Messgerät und Verfahren für eine berührungslose Messung von Abständen bei einem Zielobjekt
DE102017222534B3 (de) 2017-12-12 2019-06-13 Volkswagen Aktiengesellschaft Verfahren, computerlesbares Speichermedium mit Instruktionen, Vorrichtung und System zum Einmessen einer Augmented-Reality-Brille in einem Fahrzeug, für das Verfahren geeignetes Fahrzeug und für das Verfahren geeignete Augmented-Reality-Brille
US11195324B1 (en) 2018-08-14 2021-12-07 Certainteed Llc Systems and methods for visualization of building structures

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DE102010038507A1 (de) * 2010-07-28 2012-02-02 Robert Bosch Gmbh Parallele Online-Offline Rekonstruktion für drei-dimensionale Raumvermessung
DE102011077678A1 (de) * 2011-06-17 2012-12-20 Bauhaus-Universität Weimar Tachymeter und Verfahren zur Messwertaufnahme mittels des Tachymeters
DE102013009288B4 (de) * 2013-06-04 2016-02-04 Testo Ag 3D-Aufnahmevorrichtung, Verfahren zur Erstellung eines 3D-Bildes und Verfahren zur Einrichtung einer 3D-Aufnahmevorrichtung
US10060730B2 (en) 2013-11-01 2018-08-28 Robert Bosch Tool Corporation System and method for measuring by laser sweeps
EP2918972B1 (fr) 2014-03-14 2019-10-09 Leica Geosystems AG Procédé et appareil de mesure d'éloignement portatif pour la génération d'un modèle spatial
EP2980528A1 (fr) * 2014-08-01 2016-02-03 HILTI Aktiengesellschaft Procédé de suivi et système de suivi
EP3182065A1 (fr) 2015-12-14 2017-06-21 Leica Geosystems AG Télémètre portatif et procédé de détection de positions relatives
EP3428885A4 (fr) * 2016-03-09 2019-08-14 Guangzhou Airob Robot Technology Co., Ltd. Procédé de construction de carte, et procédé et appareil de correction
EP3486607B1 (fr) * 2017-11-20 2021-09-01 Leica Geosystems AG Dispositif de mesure d'arêtes à base d'image

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010043136B4 (de) * 2010-10-29 2018-10-31 Hilti Aktiengesellschaft Messgerät und Verfahren für eine berührungslose Messung von Abständen bei einem Zielobjekt
EP3093685A1 (fr) * 2015-05-12 2016-11-16 Siemens AG Österreich Procédé de mesure d'un point dans un objet tridimensionnel
DE102017222534B3 (de) 2017-12-12 2019-06-13 Volkswagen Aktiengesellschaft Verfahren, computerlesbares Speichermedium mit Instruktionen, Vorrichtung und System zum Einmessen einer Augmented-Reality-Brille in einem Fahrzeug, für das Verfahren geeignetes Fahrzeug und für das Verfahren geeignete Augmented-Reality-Brille
US11017745B2 (en) 2017-12-12 2021-05-25 Volkswagen Aktiengesellschaft Method, computer readable storage medium having instructions, apparatus and system for calibrating augmented reality goggles in a transportation vehicle, transportation vehicle suitable for the method, and augmented reality goggles suitable for the method
US11195324B1 (en) 2018-08-14 2021-12-07 Certainteed Llc Systems and methods for visualization of building structures
US11704866B2 (en) 2018-08-14 2023-07-18 Certainteed Llc Systems and methods for visualization of building structures

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DE102008054453A1 (de) 2010-06-17
CN102246002A (zh) 2011-11-16
EP2376868A1 (fr) 2011-10-19

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