US 12,008,783 B2
Reality capture device
Rainer Wohlgenannt, Klaus (AT); Lukas Heinzle, Wädenswil (CH); Garance Bruneau, Zürich (CH); Ralph Harti, Goldach (CH); Roland Graf, Untereggen (CH); Roman Steffen, Rebstein (CH); and Simon Mark, Thal (CH)
Assigned to LEICA GEOSYSTEMS AG, Heerbrugg (CH)
Filed by LEICA GEOSYSTEMS AG, Heerbrugg (CH)
Filed on May 27, 2022, as Appl. No. 17/827,527.
Claims priority of application No. 21176387 (EP), filed on May 27, 2021.
Prior Publication US 2022/0414915 A1, Dec. 29, 2022
Int. Cl. G06T 7/70 (2017.01); G01S 7/481 (2006.01); G01S 7/4865 (2020.01); G01S 17/894 (2020.01); G02B 13/06 (2006.01); G03B 17/56 (2021.01); H04N 23/51 (2023.01); H04N 23/698 (2023.01); H04N 23/90 (2023.01); H04N 7/015 (2006.01)
CPC G06T 7/70 (2017.01) [G01S 7/4817 (2013.01); G01S 7/4865 (2013.01); G01S 17/894 (2020.01); G02B 13/06 (2013.01); G03B 17/563 (2013.01); H04N 23/51 (2023.01); H04N 23/698 (2023.01); H04N 23/90 (2023.01); G06T 2207/10028 (2013.01); G06T 2207/10048 (2013.01); G06T 2207/30241 (2013.01); G06T 2207/30244 (2013.01); H04N 7/015 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A reality capture device configured to perform a measuring process for generating a digital representation of an environment, the device comprising:
a body defining a first axis,
an imaging unit with one or more 2D cameras configured to provide two-dimensional image data of the environment,
a ToF camera arrangement configured for capturing three-dimensional point-cloud data of the environment and comprising at least two time-of-flight cameras, wherein:
each time-of-flight camera comprises a sensor array and one or more laser emitters,
the sensor array of each of the time-of-flight cameras has an optical axis and is configured to receive reflections of light pulses emitted by the one or more laser emitters of the respective time-of-flight camera, and
the at least two time-of-flight cameras are arranged around the first axis so that each sensor array has one or two other sensor arrays as a neighbouring sensor array, wherein no angle about the first axis between the optical axes of a sensor array and one of its neighbouring sensor arrays is larger than

OG Complex Work Unit Math
where n is the number of time-of-flight cameras arranged around the first axis,
wherein the device is a mobile reality capture device configured to be carried and moved by a mobile carrier, and to be moved during the measuring process, the mobile reality capture device comprising a localization unit configured for continuously determining a pose of the mobile reality capture device and for generating localization data, particularly wherein:
the localization unit comprises an inertial measurement unit, and/or is configured for determining a trajectory of the mobile reality capture device;
the mobile reality capture device is designed to be oriented during the measuring process so that the first axis is upright, and/or
the mobile reality capture device comprises a handle portion and is configured to be carried by a person.