US 12,147,590 B2
Aligning and augmenting a partial subspace of a physical infrastructure with at least one information element
Asa MacWilliams, Fürstenfeldbruck (DE); Daniel Labisch, Karlsruhe (DE); Joseph Newman, Unterhaching (DE); Andreas Hutter, Munich (DE); Andoni Gonzalo, Berango (ES); and Gert De Nul, Aalst (BE)
Assigned to SIEMENS AKTIENGESELLSCHAFT, Munich (DE)
Appl. No. 17/916,970
Filed by Siemens Aktiengesellschaft, Munich (DE)
PCT Filed Mar. 30, 2021, PCT No. PCT/EP2021/058219
§ 371(c)(1), (2) Date Oct. 4, 2022,
PCT Pub. No. WO2021/204587, PCT Pub. Date Oct. 14, 2021.
Claims priority of application No. 20168213 (EP), filed on Apr. 6, 2020.
Prior Publication US 2023/0162394 A1, May 25, 2023
Int. Cl. G06F 3/01 (2006.01); G06T 7/73 (2017.01); G06V 20/20 (2022.01); G06V 10/24 (2022.01)
CPC G06F 3/011 (2013.01) [G06T 7/75 (2017.01); G06V 20/20 (2022.01); G06T 2207/30204 (2013.01); G06V 10/245 (2022.01)] 11 Claims
OG exemplary drawing
 
1. A method for augmenting a physical infrastructure with an information element, the method comprising:
acquiring 3-dimensional data of a first spatial environment within the physical infrastructure, the first spatial environment dimensioned by a coordinate system of the first spatial environment;
defining a second spatial environment as a partial subspace of the first spatial environment, the second spatial environment dimensioned by a coordinate system of the second spatial environment and comprising a first marker item and a second marker item;
creating a simultaneous location and mapping map (SLAM) of the second spatial environment, the SLAM map dimensioned by a coordinate system of the SLAM map, wherein the SLAM map contains two SLAM marker items with a respective SLAM marker identifier within the coordinate system of the SLAM map;
recognizing the SLAM marker identifiers;
aligning the coordinate system of the SLAM map to the coordinate system of the second spatial environment;
recognizing a first marker identifier and a second marker identifier, the first marker identifier corresponding to the first marker item and the second marker identifier corresponding to the second marker item;
determining an absolute position and orientation of the second spatial environment relative to the first spatial environment by matching the first marker item and the second marker item to align the coordinate system of the first spatial environment and the coordinate system of the second spatial environment;
defining the information element in relation to a component of the physical infrastructure;
determining spatial coordinates of the information element in the coordinate system of the second spatial environment; and
augmenting the physical infrastructure with the information element at said determined spatial coordinates.