# US 9,438,754 B2 · Integrated imaging and RFID system for virtual 3D scene construction > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,438,754 B2 - Document ID: US9438754B2 - Status: Granted - Kind: B2 - Application number: 14/691,224 - Filed: 2015-04-20 - Published: 2015-10-29 - Granted: 2016-09-06 - Earliest claimed: 2012-03-01 - Assignees: Trimble Navigation Limited - Applicants: Trimble Navigation Limited - Inventors: Bernd Schoner; Brian Ahern - Web page: https://patentgrep.com/patent/US9438754B2 ## CPC - G01C 11/02: Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures - G01C 15/002: {Active optical surveying means (optical plumbing G01C15/105)} - G06F 16/50: of still image data - G06F 16/53: Querying - G06F 16/5854: {using shape and object relationship} - G06K 7/10297: {arrangements for handling protocols designed for non-contact record carriers such as RFIDs NFCs, e.g. ISO/IEC 14443 and 18092 (cryptographic protocols H04L9/00; network security protocols H04L63/00; real-time communication protocols in data switching networks H04L65/00; network protocols for data switching network services H04L67/00)} - G06Q 10/20: Administration of product repair or maintenance - H04N 1/00342: {with a radio frequency tag transmitter or receiver (storage of additional information in an RFID tag attached to an image bearing paper sheet H04N1/32138)} - H04N 1/32128: {attached to the image data, e.g. file header, transmitted message header, information on the same page or in the same computer file as the image (for information embedded in the image H04N1/32144)} - H04N 13/178: Metadata, e.g. disparity information - H04N 13/204: using stereoscopic image cameras (stereoscopic photography G03B35/00) - H04N 2201/0084: Digital still camera - H04N 2201/3205: of identification information, e.g. name or ID code (H04N2201/3209 takes precedence) - H04N 2201/3225: of data relating to an image, a page or a document - 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) - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - G06K: GRAPHICAL DATA READING (image or video recognition or understanding G06V); PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS - G06Q: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract Information is collected by acquiring imaging data of a plurality of objects using an imaging tool; creating a three-dimensional representation of the plurality of objects based on the imaging data; and extracting RFID data stored in an RFID tag using an RFID reader. The RFID tag has a reference to a three-dimensional model. The three-dimensional model is created before acquiring the imaging data of the plurality of objects. And the three-dimensional model is a representation of at least one object of the plurality of objects. ## Claims ### Claim 1 A method of collecting information comprising: acquiring imaging data of a plurality of objects using an imaging tool; creating a three-dimensional representation of the plurality of objects based on the imaging data; and extracting RFID data stored in an RFID tag using an RFID reader, wherein: the RFID data comprises, or comprises a reference to, a three-dimensional model; the three-dimensional model is created before acquiring the imaging data of the plurality of objects; and the three-dimensional model is a representation of at least one object of the plurality of objects. ### Claim 2 (depends on 1) The method of claim 1 further comprising comparing the three-dimensional representation of the plurality of objects to the three-dimensional model. ### Claim 3 (depends on 2) The method of claim 2 further comprising computing differences between the three-dimensional representation and the three-dimensional model. ### Claim 4 (depends on 3) The method of claim 3 further comprising generating a visualization of the differences between the three-dimensional representation and the three-dimensional model. ### Claim 5 (depends on 1) The method of claim 1 wherein the imaging tool and the RFID reader are mounted on a vehicle. ### Claim 6 (depends on 5) The method of claim 5 wherein the vehicle is a rail trolley. ### Claim 7 (depends on 1) The method of claim 1 wherein the RFID tag is attached to the at least one object of the plurality of objects. ### Claim 8 (depends on 1) The method of claim 1 wherein the imaging tool is part of a mobile device. ### Claim 9 (depends on 8) The method of claim 8 wherein the mobile device is a hand-held device. ### Claim 10 (depends on 1) The method of claim 1 wherein the imaging tool and the RFID reader are incorporated into a single device and that the single device is configured to be operated by a person. ### Claim 11 (depends on 1) The method of claim 1 wherein the imaging tool or the RFID reader, or both the imaging tool and the RFID reader, are incorporated into a device, which is operable to interact with a remote system. ### Claim 12 A system comprising: an imaging tool operable to acquire imaging data of a plurality of objects, wherein the imaging data is processed to create a three-dimensional representation of the plurality of objects; and a three-dimensional model of at least one object of the plurality of objects, wherein the three-dimensional model is created before the three-dimensional representation of the plurality of objects; and an RFID reader operable to extract RFID data stored in an RFID tag, wherein the RFID data comprises, or comprises a reference to, the three-dimensional model. ### Claim 13 (depends on 12) The system of claim 12 further comprising a central processor configured to: compare the three-dimensional representation of the plurality of objects to the three-dimensional model; compute differences between the three-dimensional representation and the three-dimensional model; and generate a visualization of the differences between the three-dimensional representation and the three-dimensional model. ### Claim 14 (depends on 12) The system of claim 12 further comprising a vehicle, wherein the imaging tool or the RFID reader, or both the imaging tool and the RFID reader, are mounted on the vehicle. ### Claim 15 (depends on 14) The system of claim 14 wherein the vehicle is a rail trolley. ### Claim 16 (depends on 12) The system of claim 12 wherein the RFID tag is not attached to the at least one object of the plurality of objects. ### Claim 17 (depends on 12) The system of claim 12 further comprising a mobile device, wherein the imaging tool and the RFID reader are part of the mobile device. ### Claim 18 (depends on 12) The system of claim 12 further comprising a device, wherein: the imaging tool and the RFID reader are incorporated into the device; and the device is operable to interact with a remote system. ### Claim 19 (depends on 12) The system of claim 12 wherein the imaging tool comprises a laser scanner using a time-of-flight laser rangefinder. ### Claim 20 (depends on 12) The system of claim 12 wherein the three-dimensional model comprises additional information about the at least one object of the plurality of objects that the three-dimensional representation does not.