# US 11,112,501 B2 · Using a two-dimensional scanner to speed registration of three-dimensional scan data

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- Number: US 11,112,501 B2
- Document ID: US11112501B2
- Status: Granted
- Kind: B2
- Application number: 16/272,237
- Filed: 2019-02-11
- Published: 2019-06-06
- Granted: 2021-09-07
- Earliest claimed: 2012-10-05
- Assignees: Faro Technologies, Inc.
- Applicants: FARO Technologies, Inc.
- Inventors: Oliver Zweigle; Bernd-Dietmar Becker; Reinhard Becker
- Web page: https://patentgrep.com/patent/US11112501B2

## CPC

- G01S 17/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46)
- B25J 13/08: by means of sensing devices, e.g. viewing or touching devices
- G01B 11/002: {for measuring two or more coordinates}
- G01B 11/272: {using photoelectric detection means}
- G01C 15/002: {Active optical surveying means (optical plumbing G01C15/105)}
- G01S 7/003: {Transmission of data between radar, sonar or lidar systems and remote stations}
- G01S 7/4808: {Evaluating distance, position or velocity data}
- G01S 7/4813: {Housing arrangements}
- G01S 7/4817: {relating to scanning}
- G01S 17/36: with phase comparison between the received signal and the contemporaneously transmitted signal
- G01S 17/88: Lidar systems specially adapted for specific applications
- G01S 17/89: for mapping or imaging
- G05D 1/024: {in combination with a laser (lasers per se H01S)}
- G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)}
- G09B 29/004: {Map manufacture or repair; Tear or ink or water resistant maps; Long-life maps (printing processes for maps B41M3/02; by permanently attaching map sections to sheets B42B7/00)}
- G01C 7/04: involving a vehicle which moves along the profile to be traced
- G01S 17/86: Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
- G01S 17/87: Combinations of systems using electromagnetic waves other than radio waves
- G06T 2207/10016: Video; Image sequence
- 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
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G09B: EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS (devices for psychotechnics or for testing reaction times A61B5/16; games, sports, amusements A63; projectors, projector screens G03B)
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL

## Abstract

A method for measuring and registering 3D coordinates has a 3D scanner measure a first collection of 3D coordinates of points from a first registration position. A 2D scanner collects horizontal 2D scan sets as 3D measuring device moves from first to second registration positions. A processor determines first and second translation values and a first rotation value based on collected 2D scan sets. 3D scanner measures a second collection of 3D coordinates of points from second registration position. Processor adjusts second collection of points relative to first collection of points based at least in part on first and second translation values and first rotation value. Processor identifies a correspondence among registration targets in first and second collection of 3D coordinates, and uses this correspondence to further adjust the relative position and orientation of first and second collection of 3D coordinates.

## Claims

### Claim 1

A measurement system movable from a first position to a second position, the system comprising:
one or more processors;
a three dimensional (3D) measurement device operable to cooperate with the one or more processors to determine 3D coordinates of an area;
a position and orientation sensor;
a 2D laser scanner operably coupled to the 3D measurement device, the position and orientation sensor, and the one or more processors, the 2D laser scanner being configured to emit light over a predetermined angular range in a plane;
wherein the one or more processors responsive to executable instructions which when executed by the processor system is operable to:
cause the laser scanner to emit light in a plane;
obtain a plurality of 2D scan sets as at least a portion of the system is moved from the first position to the second position, the each of the plurality of 2D scan sets being a set of 2D coordinates of points on an object surface collected by the laser scanner at a different position relative to the first position;
determine a first translation value, a second translation value, and a first rotation value based at least in part on a fitting of the plurality of 2D scan sets, the fitting based at least in part on measurements by the position and orientation sensor as the system is moved from the first position and the second position;
identifying a correspondence between 3D coordinates measured by the 3D measurement device in the first position and the second position based at least in part on the first translation value, the second translation value, and the first rotation value; and
registering the 3D coordinates measured in the first position and the second position based on the correspondence.

### Claim 2 (depends on 1)

The device of claim 1, wherein the 2D scanner is oriented to emit the light in a horizontal plane and obtain a collection of paired angle and distance readings.

### Claim 3 (depends on 1)

The device of claim 1, wherein the processor system is further operable to initiate operation of the 2D scanner in response to 3D scanner completing a scan at one of the first position or second position.

### Claim 4 (depends on 3)

The device of claim 3, wherein the initiation of the operation of the 2D scanner is in response to a signal from the position and orientation sensor.

### Claim 5 (depends on 3)

The device of claim 3, wherein the initiation of the operation of the 2D scanner is in response to command signal from an operator.

### Claim 6 (depends on 1)

The device of claim 1, wherein the fitting of the plurality of 2D scan sets is a best fit method.

### Claim 7

A measurement system having a three-dimensional (3D) measurement device, the system being movable from a first position to a second position, the system comprising:
one or more processors;
a position and orientation sensor;
a 2D laser scanner operably coupled to the 3D measurement device, the position and orientation sensor, and the one or more processors, the 2D laser scanner being configured to emit light over a predetermined angular range in a plane;
wherein the one or more processors responsive to executable instructions which when executed by the processor system is operable to:
cause the laser scanner to emit light in a plane;
obtain a plurality of 2D scan sets as at least a portion of the system is moved from the first position to the second position, the each of the plurality of 2D scan sets being a set of 2D coordinates of points on an object surface collected by the laser scanner at a different position relative to the first position;
determine a first translation value, a second translation value, and a first rotation value based at least in part on a fitting of the plurality of 2D scan sets, the fitting based at least in part on measurements by the position and orientation sensor as the system is moved from the first position and the second position;
identifying a correspondence between 3D coordinates measured by the 3D measurement device in the first position and the second position based at least in part on the first translation value, the second translation value, and the first rotation value;
registering the 3D coordinates measured in the first position and the second position based on the correspondence;
wherein the 2D scanner having a second light source and a second light receiver; and
wherein the determination of the 2D coordinates of the second object point is based at least in part on a second light emitted by the second light source that is reflected off of the second object point and received by the second light receiver.

### Claim 8 (depends on 7)

The device of claim 7, wherein the position and orientation sensor includes at least one of an inclinometer, a gyroscope, a magnetometer, and an altimeter.

### Claim 9

A measurement system having a three-dimensional (3D) measurement device, the system being movable from a first position to a second position, the system comprising:
one or more processors;
a position and orientation sensor;
a 2D laser scanner operably coupled to the 3D measurement device, the position and orientation sensor, and the one or more processors, the 2D laser scanner being configured to emit light over a predetermined angular range in a plane;
wherein the one or more processors responsive to executable instructions which when executed by the processor system is operable to:
cause the laser scanner to emit light in a plane;
obtain a plurality of 2D scan sets as at least a portion of the system is moved from the first position to the second position, the each of the plurality of 2D scan sets being a set of 2D coordinates of points on an object surface collected by the laser scanner at a different position relative to the first position;
determine a first translation value, a second translation value, and a first rotation value based at least in part on a fitting of the plurality of 2D scan sets, the fitting based at least in part on measurements by the position and orientation sensor as the system is moved from the first position and the second position;
identifying a correspondence between 3D coordinates measured by the 3D measurement device in the first position and the second position based at least in part on the first translation value, the second translation value, and the first rotation value; and
wherein the 2D scanner and the 3D measurement device are mounted to a movable platform having a tripod and a plurality of wheels.

### Claim 10 (depends on 9)

The device of claim 9, wherein the 2D sensor is mounted to the tripod vertically below the 3D measurement device.

### Claim 11 (depends on 10)

The device of claim 10, wherein the wheels are lockable.

### Claim 12 (depends on 10)

The device of claim 10, wherein the wheels are retractable.

### Claim 13 (depends on 9)

The device of claim 9, wherein the movable platform is a motorized cart.

### Claim 14 (depends on 9)

The device of claim 9, wherein the 2D scanner is integrated with the 3D measurement device.

### Claim 15 (depends on 14)

The device of claim 14, wherein the 2D scanner is internal to the 3D measurement device.

### Claim 16

A measurement system having a three-dimensional (3D) measurement device, the system being movable from a first position to a second position, the system comprising:
one or more processors;
a position and orientation sensor;
a 2D laser scanner operably coupled to the 3D measurement device, the position and orientation sensor, and the one or more processors, the 2D laser scanner being configured to emit light over a predetermined angular range in a plane;
wherein the one or more processors responsive to executable instructions which when executed by the processor system is operable to:
cause the laser scanner to emit light in a plane;
obtain a plurality of 2D scan sets as at least a portion of the system is moved from the first position to the second position, the each of the plurality of 2D scan sets being a set of 2D coordinates of points on an object surface collected by the laser scanner at a different position relative to the first position;
determine a first translation value, a second translation value, and a first rotation value based at least in part on a fitting of the plurality of 2D scan sets, the fitting based at least in part on measurements by the position and orientation sensor as the system is moved from the first position and the second position;
identifying a correspondence between 3D coordinates measured by the 3D measurement device in the first position and the second position based at least in part on the first translation value, the second translation value, and the first rotation value;
wherein the 2D scanner and the 3D measurement device are mounted to a movable platform having a tripod and a plurality of wheels with brakes; and
wherein the initiation of the operation of the 2D scanner is in response to a signal the brakes are released.

### Claim 17

A measurement system having a three-dimensional (3D) measurement device, the system being movable from a first position to a second position, the system comprising:
one or more processors;
a position and orientation sensor;
a 2D laser scanner operably coupled to the 3D measurement device, the position and orientation sensor, and the one or more processors, the 2D laser scanner being configured to emit light over a predetermined angular range in a plane;
wherein the one or more processors responsive to executable instructions which when executed by the processor system is operable to:
cause the laser scanner to emit light in a plane;
obtain a plurality of 2D scan sets as at least a portion of the system is moved from the first position to the second position, the each of the plurality of 2D scan sets being a set of 2D coordinates of points on an object surface collected by the laser scanner at a different position relative to the first position;
determine a first translation value, a second translation value, and a first rotation value based at least in part on a fitting of the plurality of 2D scan sets, the fitting based at least in part on measurements by the position and orientation sensor as the system is moved from the first position and the second position;
identifying a correspondence between 3D coordinates measured by the 3D measurement device in the first position and the second position based at least in part on the first translation value, the second translation value, and the first rotation value;
wherein the processor system is further operable to operate the 2D scanner on a continuous basis.

### Claim 18

A measurement system having a three-dimensional (3D) measurement device, the system being movable from a first position to a second position, the system comprising:
one or more processors;
a position and orientation sensor;
a 2D laser scanner operably coupled to the 3D measurement device, the position and orientation sensor, and the one or more processors, the 2D laser scanner being configured to emit light over a predetermined angular range in a plane;
wherein the one or more processors responsive to executable instructions which when executed by the processor system is operable to:
cause the laser scanner to emit light in a plane;
obtain a plurality of 2D scan sets as at least a portion of the system is moved from the first position to the second position, the each of the plurality of 2D scan sets being a set of 2D coordinates of points on an object surface collected by the laser scanner at a different position relative to the first position;
determine a first translation value, a second translation value, and a first rotation value based at least in part on a fitting of the plurality of 2D scan sets, the fitting based at least in part on measurements by the position and orientation sensor as the system is moved from the first position and the second position;
identifying a correspondence between 3D coordinates measured by the 3D measurement device in the first position and the second position based at least in part on the first translation value, the second translation value, and the first rotation value;
wherein the determination of the first translation value and second translation value includes determining a first transformed 2D data and a second transformed 2D data that are matched based on an objective mathematical criterion.

### Claim 19 (depends on 18)

The device of claim 18, wherein the objective mathematical criterion includes at least one of minimizing the sum of squared residual errors for overlap area or matching of multiple features identified on an object.

### Claim 20 (depends on 18)

The device of claim 18, wherein the determination of the first translation valve and second translation value include an intermediate step of representing features in an environment as a collection of line segments using an iterative closest point method.