US 12,223,613 B2
Tracking an ongoing construction by using fiducial markers
Anton Treskunov, Santa Clara, CA (US); and Robin Singh, Sunnyvale, CA (US)
Assigned to Doxel, Inc., Palo Alto, CA (US)
Filed by DOXEL, INC., Palo Alto, CA (US)
Filed on Sep. 1, 2023, as Appl. No. 18/460,310.
Application 18/460,310 is a continuation of application No. 17/661,015, filed on Apr. 27, 2022, abandoned.
Application 17/661,015 is a continuation of application No. 16/680,377, filed on Nov. 11, 2019, granted, now 11,348,322, issued on May 31, 2022.
Claims priority of provisional application 62/758,295, filed on Nov. 9, 2018.
Prior Publication US 2024/0249488 A1, Jul. 25, 2024
Int. Cl. G06T 19/20 (2011.01); G01S 17/89 (2020.01); G05D 1/00 (2006.01); G06F 30/13 (2020.01); G06T 7/521 (2017.01); G06T 15/20 (2011.01); G06T 17/10 (2006.01)
CPC G06T 19/20 (2013.01) [G01S 17/89 (2013.01); G05D 1/024 (2013.01); G06F 30/13 (2020.01); G06T 7/521 (2017.01); G06T 15/205 (2013.01); G06T 17/10 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/30208 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system for tracking progression of a construction site at different points in time relative to an expected progression of the construction site as represented by a computer model, the system comprising:
one or more processor; and
one or more memories including instructions executable by the processors causing the system to:
generate a first plurality of two-dimensional (2D) images of the construction site by scanning the construction site with an imaging device;
detect a first set of fiducial markers appearing in the first plurality of 2D images, each of the first set of fiducial markers being unique among the first set of fiducial markers positioned on the construction site;
generate a second plurality of 2D images of the construction site;
detect a second set of fiducial markers appearing in the second plurality of 2D images, each of the second set of fiducial markers being unique among the second set of fiducial markers;
identify each of the second set of fiducial markers in association with a unique identifier and a unique location relative to the construction site; and
align a coordinate system of the second set of fiducial markers with a coordinate system of the computer model utilizing a transformation function based on the first set of fiducial markers, which represents the construction site at points in time.