US 12,249,098 B2
Surveying device with image evaluator for determining a spatial pose of the target axis
Bernhard Metzler, Dornbirn (AT)
Assigned to HEXAGON TECHNOLOGY CENTER GMBH, Heerbrugg (CH)
Filed by HEXAGON TECHNOLOGY CENTER GMBH, Heerbrugg (CH)
Filed on May 20, 2022, as Appl. No. 17/750,156.
Claims priority of application No. 21175013 (EP), filed on May 20, 2021.
Prior Publication US 2022/0375122 A1, Nov. 24, 2022
Int. Cl. G06T 7/73 (2017.01); G01C 3/02 (2006.01); H04N 5/232 (2006.01); H04N 5/247 (2006.01); H04N 23/695 (2023.01); H04N 23/698 (2023.01); H04N 23/90 (2023.01)
CPC G06T 7/74 (2017.01) [G01C 3/02 (2013.01); H04N 23/695 (2023.01); H04N 23/698 (2023.01); H04N 23/90 (2023.01); G06T 2207/10028 (2013.01); G06T 2207/30204 (2013.01); G06T 2207/30244 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A surveying device for a coordinative position determination of a spatial point, wherein the surveying device comprises a transmission unit having a targeting component that can be rotated about a first axis of rotation and a second axis of rotation, wherein the targeting component is configured to provide for a distance measurement, which comprises transmission of measurement radiation by the targeting component in the direction of a target axis which is determined by an orientation of the targeting component, and reception of returning measurement radiation by the targeting component, wherein the surveying device comprises a base and a support that is mounted to the base such that it can be moved relative to the base about the first axis of rotation, wherein the targeting component is mounted to the support such that it can be moved relative to the support about the second axis of rotation, the surveying device comprising:
a camera which is fixedly mounted to the transmission unit as a sideward viewing camera with a viewing direction transverse to the target axis, wherein the camera is mounted in a way that its field-of-view moves with the targeting component and the second axis of rotation intersects the field-of-view of the camera, wherein the camera is configured to capture two images, wherein each of the two images is associated with a different distance measurement, each of which comprises transmission and reception of corresponding measurement radiation, and
an image evaluator, configured for automatically identifying corresponding image features that are present in both of the two images, the corresponding image features representing reference points within the environment, and for a derivation of a spatial transformation parameter from a motion of the corresponding image features, wherein the spatial transformation parameter provides for a determination of a difference of a spatial pose of the target axis between the different distance measurements which correspond to the two images.