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US 7,689,032 B2Granted
Scanning system for three-dimensional objects
AssigneeHarman Becker Automotive Systems GmbH
InventorMarek Strassenburg-Kleciak
Life of this patent
Estimating the term…
Abstract
A scanning system scans a surface of a three-dimensional object from a first position and a second position. Using common alignment at these positions, a first scanning sample and a second scanning sample are generated. The first and second scanning samples include point clouds having data points representing positions of the scanned surfaces. The first scanning sample and the second scanning sample are oriented relative to each other based on the common alignment of the scan positions.
Claims30
A method for scanning a three-dimensional object, comprising:
- scanning a first surface of a three-dimensional object from a first scanning position with a scanner;
- scanning at least a second surface of the three-dimensional object from a second scanning position with the scanner;
- generating a first scanning sample including a first point cloud and a second scanning sample including a second point cloud where the first point cloud has data points that represent positions corresponding to the first scanned surface at the first scanning position, and the second point cloud has data points that represent positions corresponding to the second scanned surface at the second scanning position;
- determining coordinates of a geographic position of the scanner at the first scanning position and the second scanning position with a Differential Global Positioning System;
- receiving a radio transmitted error signal;
- correcting inaccuracies of the determined coordinates of the geographic position of the scanner based on the radio transmitted error signal;
- where the first scanning position is a reference point of the first point cloud of the first scanning sample and the second scanning position is a reference point of the second point cloud of the second scanning sample;
- and
- registering the first scanning sample and the second scanning sample based on the first scanning position and the second scanning position, where the first scanning sample and the second scanning sample are oriented with respect to each other according to orientation of the first scanned surface with respect to the second scanned surface by applying to the first point cloud and the second point cloud at least one of translational and rotational operations, where the at least one of translational and rotational operations is performed on the first point cloud with respect to the reference point of the first point cloud and on the second point cloud with respect to the reference point of the second point cloud.
6 more elements
A scanning system, comprising:
- a scanner that moves a scanning beam across a surface of a three-dimensional object, the scanner having a reduced degree of freedom to align the scanner in a horizontal direction with respect to the three-dimensional object;
- a detector that detects a reflected scanning beam;
- a receiver for use with a Differential Global Positioning System that determines a position of the scanner and corrects for inaccuracies of the determined position with an error signal transmitted to the scanning system, the error signal comprising position correction data;
- and
- a processing unit configured to format a plurality of scanning samples, each of the scanning samples comprising a point cloud representative of a scanned surface of the three-dimensional object in one of multiple geographic positions around the three-dimensional object,
- a first one of the scanning samples comprising a first point cloud obtained during a first scan at a first geographic position that is a reference point of the first point cloud, and a second one of the scanning samples comprising a second point cloud obtained during a second scan at a second geographic position that is a reference point of the second point cloud;
- and
- the processing unit further configured to perform at least one of translational and rotational operations on the first point cloud with respect to the reference point of the first point cloud and on the second point cloud with respect to the reference point of the second point cloud to orient the first scanning sample and the second scanning sample with respect to each other.
5 more elements
A computer readable medium having computer executable instructions stored thereon for scanning a three-dimensional object, the computer readable medium comprising:
- instructions to receive scan data from a scanner, the scan data representative of a first surface of a three-dimensional object and a second surface of a three-dimensional object, the scan data representative of the first surface collected with the scanner positioned adjacent the three-dimensional object in a first scanning position that is a reference point of the scan data representative of the first surface, and the scan data representative of the second surface collected with the scanner positioned adjacent the three-dimensional object in a second scanning position that is a reference point of the scan data representative of the second surface;
- instructions to generate a first scanning sample including a first point cloud and a second scanning sample including a second point cloud, the first point cloud comprising data points corresponding to the first surface, and the second point cloud comprising data points corresponding to the second surface;
- instructions to receive geographic coordinates of each of the first scanning position and the second scanning position from a Differential Global Positioning system;
- instructions to receive an error signal comprising position correction data;
- instructions to correct an error in the geographic coordinates of at least one of the first scanning position and the second scanning position based on the error signal;
- and
- instructions to manipulate and join the first scanning sample and the second scanning sample based on the geographic coordinates of the first scanning position and the second scanning position, where the first scanning sample and the second scanning sample are oriented during manipulation with respect to each other according to the reference point of the scan data representative of the first surface and the reference point of the scan data representative of the second surface.
4 more elements
Dependencies are inferred from the claim text.