Measurement, layout, marking, firestop stick
AssigneeTrimble Inc.
InventorsKent Kahle, Young Jin Lee
Life of this patent
Estimating the term…
Abstract
Multiple cameras are used for tool positioning, as-built documentation, and/or personnel monitoring in construction site. A camera unit comprises one or more imaging devices, a processing computer, and a communication device. The camera units are placed at multiple locations in a construction site to cover an area. The camera units are self-positioned by detecting a calibration target that moves within a working volume. The camera units can detect and calculate positions of objects, including measurement sticks, tools, personnel, etc., in the area.
Claims16
A method for providing position and orientation of an object at a worksite, the method comprising:
- acquiring three or more images of a stick using three or more imaging devices, wherein:
- the stick comprises central markings of known dimensions and an end marking of known dimensions;
- the end marking has different dimensions than the central markings;
- and
- the central markings have a repeating pattern;
- calculating a plurality of two-dimensional line equations from the three or more images;
- calculating a three-dimensional line equation from the plurality of two-dimensional line equations;
- determining a first point, a second point, or both the first point and the second point on the stick in the three or more images based on the three-dimensional line equation, the known dimensions of the end marking, and the repeating pattern of the central markings;
- and
- determining coordinates of the stick in three dimensions using the first point, the second point, or both the first point and the second point of the stick in the three or more images.
A memory device comprising instructions that when executed cause one or more processors to perform the follow steps for using a plurality of images of a stick acquired from three or more cameras to determine a position of the stick, the steps comprising:
- calculate a plurality of two-dimensional line equations, a two-dimensional line equation from each of the plurality of images;
- calculate a three-dimensional line equation based on the plurality of two-dimensional line equations;
- identify an endpoint of the stick in each of the plurality of images, wherein:
- the stick comprises central markings of known dimensions and an end marking of known dimensions;
- the end marking has different dimensions than the central markings;
- the central markings have a repeating pattern;
- and
- identifying the endpoint is based on the three-dimensional line equation, the known dimensions of the end marking, and the repeating pattern of the central markings;
- and
- calculate coordinates, in three dimensions, of the endpoint based on determining the endpoint in each of the plurality of images, to determine the position of the stick.
Dependencies are inferred from the claim text.