US 12,436,288 B2
Generating environmental map by aligning captured scans
Oliver Zweigle, Stuttgart (DE); Mark Brenner, Asperg (DE); Aleksej Frank, Kornwestheim (DE); and Ahmad Ramadneh, Kornwestheim (DE)
Assigned to FARO Technologies, Inc., Lake Mary, FL (US)
Filed by FARO Technologies, Inc., Lake Mary, FL (US)
Filed on May 5, 2022, as Appl. No. 17/737,250.
Claims priority of provisional application 63/187,467, filed on May 12, 2021.
Prior Publication US 2022/0365217 A1, Nov. 17, 2022
Int. Cl. G01S 17/89 (2020.01); G01S 7/484 (2006.01); G06V 10/77 (2022.01)
CPC G01S 17/89 (2013.01) [G01S 7/484 (2013.01); G06V 10/7715 (2022.01)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
a scanner device configured to capture scan-data of a surrounding environment; and
one or more processors operably coupled to the scanner device, wherein the one or more processors are operable to perform simultaneous locating and mapping of the scanner device in the surrounding environment, which comprises:
capturing the scan-data of a portion of a map of the surrounding environment, wherein the scan-data comprises a point cloud;
receiving, at runtime, via a user-interface, a selection of a feature from the scan-data, and a selection of a submap that was previously captured, wherein the submap includes the same feature;
determining a first scan position as a present position of the scanner device, and determine a second scan position as a position of the scanner device;
determining a displacement vector for the map based on a difference between the first scan position and the second scan position;
computing a revised first scan position based on the second scan position and the displacement vector; and
registering the scan-data using the revised first scan position.