US 11,815,600 B2
Using a two-dimensional scanner to speed registration of three-dimensional scan data
Oliver Zweigle, Stuttgart (DE); Bernd-Dietmar Becker, Ludwigsburg (DE); and Reinhard Becker, Ludwigsburg (DE)
Assigned to FARO Technologies, Inc., Lake Mary, FL (US)
Filed by FARO Technologies, Inc., Lake Mary, FL (US)
Filed on Aug. 20, 2021, as Appl. No. 17/407,754.
Application 17/407,754 is a continuation of application No. 16/272,237, filed on Feb. 11, 2019, granted, now 11,112,501.
Application 16/272,237 is a continuation of application No. 15/681,862, filed on Aug. 21, 2017, granted, now 10,203,413, issued on Feb. 12, 2019.
Application 15/681,862 is a continuation of application No. 14/559,290, filed on Dec. 3, 2014, granted, now 9,739,886, issued on Aug. 22, 2017.
Application 14/559,290 is a continuation of application No. PCT/IB2013/003082, filed on Sep. 27, 2013.
Claims priority of provisional application 61/716,845, filed on Oct. 22, 2012.
Claims priority of application No. 10 2012 109 481.0 (DE), filed on Oct. 5, 2012.
Prior Publication US 2021/0396882 A1, Dec. 23, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. G01S 17/42 (2006.01); G05D 1/02 (2020.01); B25J 13/08 (2006.01); G01S 17/89 (2020.01); G01S 7/00 (2006.01); G01S 7/481 (2006.01); G09B 29/00 (2006.01); G01S 7/48 (2006.01); G01S 17/88 (2006.01); G01B 11/00 (2006.01); G01B 11/27 (2006.01); G01S 17/36 (2006.01); G01C 15/00 (2006.01); G01C 7/04 (2006.01); G01S 17/87 (2020.01); G01S 17/86 (2020.01)
CPC G01S 17/42 (2013.01) [B25J 13/08 (2013.01); G01B 11/002 (2013.01); G01B 11/272 (2013.01); G01C 15/002 (2013.01); G01S 7/003 (2013.01); G01S 7/4808 (2013.01); G01S 7/4813 (2013.01); G01S 7/4817 (2013.01); G01S 17/36 (2013.01); G01S 17/88 (2013.01); G01S 17/89 (2013.01); G05D 1/024 (2013.01); G05D 1/0274 (2013.01); G09B 29/004 (2013.01); G01C 7/04 (2013.01); G01S 17/86 (2020.01); G01S 17/87 (2013.01); G05D 2201/0207 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for measuring and registering three-dimensional (3D) coordinates comprising:
providing a 3D measuring device that includes a processor system, a 3D scanner and a two-dimensional (2D) scanner and a processor system operably coupled to the 3D scanner and the 2D scanner;
measuring with the 3D scanner 3D coordinates of a first collection of points on an object surface while the 3D scanner is at a first position;
measuring with the processor system a plurality of 2D scan sets, each of the plurality of 2D scan sets being a set of 2D coordinates of points on the object surface measured by the 2D scanner as the 2D scanner moves from the first position to a second position, at least one of the plurality of 2D scan sets being collected by the 2D scanner at a different position relative to the first position;
determining by the processor system a first translation value corresponding to a first translation direction, a second translation value corresponding to a second translation direction, and a first rotation value corresponding to a first orientational axis, wherein the first translation value, the second translation value, and the first rotation value are determined based at least in part on the plurality of 2D scan sets;
measuring with the 3D scanner 3D coordinates of a second collection of points on the object surface while the 3D scanner is located at the second position;
determining by the processor system an alignment between the first collection of points and the second collection of points, the alignment based at least in part on the first translation value, the second translation value, and the first rotation value;
determining 3D coordinates of a 3D collection of points based at least in part on the alignment between the first collection of points and the second collection of points, the 3D coordinates of the first collection of points and the 3D coordinates of the second collection of points; and
storing the 3D coordinates of the registered 3D collection of points.