US 12,468,039 B2
Robust laser scanning for generating a 3D model
Nathan L. Tofte, Downs, IL (US); Patrick H. Boyer, Bloomington, IL (US); and James M. Freeman, Normal, IL (US)
Assigned to STATE FARM MUTUAL AUTOMOBILE INSURANCE COMPANY, Bloomington, IL (US)
Filed by STATE FARM MUTUAL AUTOMOBILE INSURANCE COMPANY, Bloomington, IL (US)
Filed on Jun. 21, 2023, as Appl. No. 18/212,568.
Application 18/212,568 is a continuation of application No. 16/852,731, filed on Apr. 20, 2020, granted, now 11,808,856.
Application 16/852,731 is a continuation of application No. 15/598,071, filed on May 17, 2017, granted, now 10,663,591, issued on May 26, 2020.
Prior Publication US 2023/0350067 A1, Nov. 2, 2023
Int. Cl. G01S 17/89 (2020.01); B64U 101/30 (2023.01); G01S 7/00 (2006.01); G01S 7/48 (2006.01); G01S 7/481 (2006.01); G01S 7/497 (2006.01); G01S 17/10 (2020.01); G01S 17/42 (2006.01); G01S 17/66 (2006.01); G01S 17/88 (2006.01)
CPC G01S 17/89 (2013.01) [G01S 7/003 (2013.01); G01S 7/4808 (2013.01); G01S 7/4817 (2013.01); G01S 7/4972 (2013.01); G01S 17/10 (2013.01); G01S 17/42 (2013.01); G01S 17/66 (2013.01); G01S 17/88 (2013.01); B64U 2101/30 (2023.01)] 17 Claims
OG exemplary drawing
 
1. A computer-implemented method for inspecting a structure, the method comprising:
scanning, by a laser tracking device, a three-dimensional (3D) biodegradable fiducial marker located on a structure, the 3D biodegradable fiducial marker having unique 3D surface features;
scanning, by a laser scanning device, a surface of the structure;
transmitting, via a communication link to a base station, the scan of the 3D biodegradable fiducial marker and the scan of the surface of the structure;
estimating, by one or more processors at the base station, a position and orientation of the laser tracking device relative to the 3D biodegradable fiducial marker based upon the scan of the 3D biodegradable fiducial marker;
generating, by the one or more processors, 3D data points based upon the scan of the surface of the structure;
adjusting, by the one or more processors, the 3D data points based upon the position and orientation of the laser tracking device relative to the 3D biodegradable fiducial marker;
constructing, by the one or more processors, a 3D model of the surface of the structure based upon the adjusted 3D data points; and
generating, by the one or more processors, an estimate of a condition of the structure based upon an analysis of the 3D model of the structure.