Articulated arm localization

A method for localizing a portable articulated arm coordinate measuring machine (AACMM), the method comprising:

• in response to a base of the AACMM being placed at a first position:
• receiving a first frame of reference associated with a predetermined area;
• capturing a first set of images of a positioning element in the predetermined area using at least two image capture devices;
• determining first 3D coordinates of the positioning element in the first frame of reference from the first position using the first set of images;
• and
• receiving a position signal from at least one position transducer of the AACMM and compute 3D coordinates corresponding to a position of a first measurement probe in the predetermined area, the 3D coordinates based on the first frame of reference;
• and
• in response to the base being moved to a second position:
• capturing a second set of images of the positioning element in the predetermined area using the at least two image capture devices;
• determining second 3D coordinates of the positioning element from the second position using the second set of images;
• determining a translation matrix to convert the second 3D coordinates to the first 3D coordinates;
• and
• receiving the position signal from the at least one position transducer and compute the 3D coordinates corresponding to the position of the first measurement probe in the predetermined area, the 3D coordinates converted to the first frame of reference by using the translation matrix.

A computer program product comprising a memory storage device having computer executable instructions stored therein, the computer executable instructions when executed by a processor cause the processor to localize a portable articulated arm coordinate measuring machine (AACMM), the localizing comprising:

• in response to a base of the AACMM being placed at a first position:
• receiving a first frame of reference associated with a predetermined area;
• capturing a first set of images of a positioning element in the predetermined area using at least two image capture devices;
• determining first 3D coordinates of the positioning element in the first frame of reference from the first position using the first set of images;
• and
• receiving a position signal from at least one position transducer of the AACMM and compute 3D coordinates corresponding to a position of a first measurement probe in the predetermined area, the 3D coordinates based on the first frame of reference;
• and
• in response to the base being moved to a second position:
• capturing a second set of images of the positioning element in the predetermined area using the at least two image capture devices;
• determining second 3D coordinates of the positioning element from the second position using the second set of images;
• determining a translation matrix to convert the second 3D coordinates to the first 3D coordinates;
• and
• receiving the position signal from the at least one position transducer and compute the 3D coordinates corresponding to the position of the first measurement probe in the predetermined area, the 3D coordinates converted to the first frame of reference by using the translation matrix.