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1. (WO2019006289) SYSTEMS AND METHODS FOR IMPROVEMENTS IN SCANNING AND MAPPING
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Pub. No.: WO/2019/006289 International Application No.: PCT/US2018/040269
Publication Date: 03.01.2019 International Filing Date: 29.06.2018
IPC:
G01S 17/42 (2006.01) ,G01S 17/50 (2006.01) ,G01S 17/89 (2006.01) ,G06T 7/30 (2017.01)
G PHYSICS
01
MEASURING; TESTING
S
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
17
Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
02
Systems using the reflection of electromagnetic waves other than radio waves
06
Systems determining position data of a target
42
Simultaneous measurement of distance and other coordinates
G PHYSICS
01
MEASURING; TESTING
S
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
17
Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
02
Systems using the reflection of electromagnetic waves other than radio waves
50
Systems of measurement based on relative movement of target
G PHYSICS
01
MEASURING; TESTING
S
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
17
Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
88
Lidar systems, specially adapted for specific applications
89
for mapping or imaging
[IPC code unknown for G06T 7/30]
Applicants:
KAARTA, INC. [US/US]; Suite 430 5001 Baum Bouldevard Pittsburgh, Pennsylvania 15213, US
Inventors:
HUBER, Steven; US
SHEEN, Calvin, Wade; US
ZHANG, Ji; US
Agent:
AMBROZIAK, Jeffrey, R.; US
Priority Data:
62/527,34130.06.2017US
PCT/US2017/05593810.10.2017US
PCT/US2018/01540326.01.2018US
Title (EN) SYSTEMS AND METHODS FOR IMPROVEMENTS IN SCANNING AND MAPPING
(FR) SYSTÈMES ET PROCÉDÉS D'AMÉLIORATIONS DE BALAYAGE ET DE MISE EN CORRESPONDANCE
Abstract:
(EN) A method of pose calculation for a portable three-dimensional scanning device including a first sensor and a second sensor the method including utilizing data from the first sensor and data from the second sensor to acquire data defining six degrees of freedom of the scanning device to optimize a first pose calculation, receiving data comprising one of data from the first sensor and data from the second sensor, selecting a subset of the six degrees of freedom of the scanning device, utilizing the IMU data and the received data for the selected subset of six degrees of freedom to optimize a second pose, wherein the unselected degrees of freedom are retained from the first pose and storing received data associated with the second camera pose in a point cloud database.
(FR) La présente invention concerne un procédé de calcul de pose pour un dispositif de balayage tridimensionnel portable comprenant un premier capteur et un second capteur, le procédé consistant à utiliser des données provenant du premier capteur et des données provenant du second capteur pour acquérir des données définissant six degrés de liberté du dispositif de balayage pour optimiser un premier calcul de pose, à recevoir des données comprenant soit des données provenant du premier capteur, soit des données provenant du second capteur, à sélectionner un sous-ensemble des six degrés de liberté du dispositif de balayage, à utiliser les données d'IMU et les données reçues pour le sous-ensemble sélectionné de six degrés de liberté pour optimiser une seconde pose, les degrés de liberté non sélectionnés étant retenus à partir de la première pose et stockant des données reçues associées à la seconde pose de caméra dans une base de données de nuage de points.
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: English (EN)
Filing Language: English (EN)