US 12,352,902 B2
Dynamic self-calibrating of auxiliary camera of laser scanner
Jafar Amiri Parian, Schlieren (CH); and Hani Kaabi, Korntal-Münchingen (DE)
Assigned to FARO Technologies, Inc., Lake Mary, FL (US)
Filed by FARO Technologies, Inc., Lake Mary, FL (US)
Filed on Oct. 4, 2021, as Appl. No. 17/492,801.
Claims priority of provisional application 63/105,505, filed on Oct. 26, 2020.
Prior Publication US 2022/0128671 A1, Apr. 28, 2022
Int. Cl. G01S 7/497 (2006.01); G01S 17/894 (2020.01); G06T 7/521 (2017.01)
CPC G01S 7/497 (2013.01) [G01S 17/894 (2020.01); G06T 7/521 (2017.01); G06T 2207/10028 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
a three-dimensional (3D) scanner that captures a 3D point cloud that comprises a plurality of 3D coordinates corresponding to one or more objects scanned in a surrounding environment;
a camera that captures a control image by capturing a plurality of images of the surrounding environment, wherein images from the plurality of images are stitched to form the control image;
an auxiliary camera that captures a calibration image by acquiring an ultrawide-angle image of the surrounding environment; and
one or more processors that dynamically calibrate the auxiliary camera using the 3D point cloud, the control image, and the calibration image, wherein calibrating the auxiliary camera comprises:
extracting a first plurality of features from the control image using a feature-extraction algorithm;
extracting a second plurality of features from the calibration image using the feature-extraction algorithm;
determining a set of matching features from the first plurality of features and the second plurality of features by using a feature-matching algorithm;
building a set of control points using the set of matching features by determining points in the 3D point cloud that are corresponding to the set of matching features; and
performing self-calibration of the auxiliary camera using the set of control points.