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Небесная энциклопедия

Космические корабли и станции, автоматические КА и методы их проектирования, бортовые комплексы управления, системы и средства жизнеобеспечения, особенности технологии производства ракетно-космических систем

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Мониторинг СМИ

Мониторинг СМИ и социальных сетей. Сканирование интернета, новостных сайтов, специализированных контентных площадок на базе мессенджеров. Гибкие настройки фильтров и первоначальных источников.

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Поддерживает ввод нескольких поисковых фраз (по одной на строку). При поиске обеспечивает поддержку морфологии русского и английского языка
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Применить Всего найдено 64. Отображено 49.
10-02-2022 дата публикации

GENERATING TEXTURED THREE-DIMENSIONAL MESHES USING TWO-DIMENSIONAL SCANNER AND PANORAMIC CAMERA

Номер: US20220046221A1
Автор: Brenner Mark, Frank Aleksej, Ramadneh Ahmad, Waheed Mufassar, Zweigle Oliver
Принадлежит:

Techniques are described for converting a 2D map into a 3D mesh. The 2D map of the environment is generated using data captured by a 2D scanner. Further, a set of features is identified from a subset of panoramic images of the environment that are captured by a camera. Further, the panoramic images from the subset are aligned with the 2D map using the features that are extracted. Further, 3D coordinates of the features are determined using 2D coordinates from the 2D map and a third coordinate based on a pose of the camera. The 3D mesh is generated using the 3D coordinates of the features. 1. A system comprising:a scanner configured to capture a 2D map of an environment;a camera configured to capture a plurality of panoramic images of the environment from respective locations in the environment;an inertial measurement unit (IMU) configured to determine a pose of the scanner, and a pose of the camera; and generating the 2D map of the environment using data captured by the scanner;', 'identifying a plurality of features from a subset of the panoramic images captured by the camera;', 'aligning the subset of the panoramic images with the 2D map using the features that are extracted;', 'determining 3D coordinates of the features using 2D coordinates from the 2D map and a third coordinate based on a pose of the camera; and', 'generating a 3D mesh using the 3D coordinates of the features., 'one or more processors operably coupled to the scanner, the IMU, and the camera, the one or more processors being responsive to executable instructions for converting the 2D map into a 3D mesh, the converting comprising2. The system of claim 1 , wherein the converting further comprises applying the subset of the panoramic images as textures on the 3D mesh.3. The system of claim 1 , wherein the converting further comprises scaling the 3D mesh using the 2D map.4. The system of claim 1 , wherein the camera is coupled with the scanner at a predetermined offset.5. The system of claim 1 , ...

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Номер записи: 1
17-02-2022 дата публикации

System and method of automatic room segmentation for two-dimensional laser floorplans

Номер: US20220051459A1
Автор: Ahmad RAMADNEH, Aleksej Frank, Mark BRENNER, Mufassar Waheed, Oliver Zweigle
Принадлежит: Faro Technologies Inc

A system for generating an automatically segmented and annotated two-dimensional (2D) map of an environment includes processors coupled to a scanner to convert a 2D map from the scanner into a 2D image. Further, a mapping system categorizes a first set of pixels from the image into one of room-inside, room-outside, and noise by applying a trained neural network to the image. The mapping system further categorizes a first subset of pixels from the first set of pixels based on a room type if the first subset of pixels is categorized as room-inside. The mapping system also determines the room type of a second subset of pixels from the first set of pixels based on the first subset of pixels by using a flooding algorithm. The mapping system further annotates a portion of the 2D map to identify the room type based on the pixels corresponding to the portion.

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Номер записи: 2
24-02-2022 дата публикации

CAPTURING ENVIRONMENTAL SCANS USING SENSOR FUSION

Номер: US20220057518A1
Автор: Brenner Mark, Frank Aleksej, Ramadneh Ahmad, Zweigle Oliver
Принадлежит:

Techniques are described to determine a constraint for performing a simultaneous location and mapping. A method includes detecting a first set of planes in a first scan-data of an environment, and detecting a second set of planes in a second scan-data. Further, a plane that is in the first set of planes and the second set of planes is identified. Further, a first set of measurements of a landmark on the plane is determined from the first scan-data, and a second set of measurements of said landmark is determined from the second scan-data. The constraint is determined by computing a relationship between the first set of measurements and the second set of measurements. 1. A system comprising:an image capture device;a light detection and ranging (LIDAR) device; and capture a first scan-data of the surrounding environment from a first position, and capture a second scan-data of the surrounding environment from a second position, wherein the first scan-data comprises a first image from the image capture device and a first distance-data from the LIDAR device, and the second scan-data comprises a second image from the image capture device and a second distance-data from the LIDAR device;', 'detect a first set of planes in the first scan-data by projecting the first distance-data on the first image;', 'detect a second set of planes in the second scan-data by projecting the second distance-data on the second image;', 'identify a plane that is in the first set of planes and the second set of planes by matching the first set of planes and the second set of planes;', 'determine a first set of measurements of a landmark on the plane, the first set of measurements determined from the first scan-data;', 'determine a second set of measurements of said landmark on said plane, the second set of measurements determined from the second scan-data;', 'determine a constraint by computing a relationship between the first set of measurements and the second set of measurements; and', 'perform ...

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Номер записи: 3
13-02-2020 дата публикации

System and method of automatic re-localization and automatic alignment of existing non-digital floor plans

Номер: US20200050727A1
Автор: Ahmad RAMADNEH, Aleksej Frank, Joao Santos, Oliver Zweigle
Принадлежит: Faro Technologies Inc

A system and method of automatic re-localization of a handheld scanning device in a previously mapped environment is provided. The system includes a two-dimensional (2D) scanner and one or more processors operably coupled to the 2D scanner. The one or more processors are responsive to non-transitory executable instructions for performing operations that include determining a current location of the 2D scanner in an environment relative to a location in a previously generated 2D image of the environment. The operations also include generating a new 2D image of at least a subset of the environment based at least in part in response to a signal from a first sensor. The at least a subset of the environment includes the current location of the 2D scanner and at least one other location in the environment. The operations further include overlapping portions of the previously generated 2D image and the current 2D image.

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Номер записи: 4
05-05-2022 дата публикации

SIMULTANEOUS LOCALIZATION AND MAPPING ALGORITHMS USING THREE-DIMENSIONAL REGISTRATION

Номер: US20220137223A1
Автор: Brenner Mark, Buback Johannes, Frank Aleksej, Ramadneh Ahmad, Zweigle Oliver
Принадлежит:

An example method includes receiving, via a 3D scanner, a 3D scan of the environment. The 3D scan includes a global position and is partitioned into a plurality of 3D submaps. The method further includes receiving, via a two-dimensional (2D) scanner accessory, a plurality of 2D submaps of the environment. The method further includes receiving coordinates of the scan position in the plurality of 2D submaps in response to the 3D scanner initiating the acquisition of the 3D scan. The method further includes associating the coordinates of the scan position with the plurality of 2D submaps. The method further includes performing real-time positioning by linking the coordinates of the scan position with the plurality of 2D submaps using a SLAM algorithm. The method further includes performing, based at least in part on the real-time positioning, a registration technique on the plurality of 3D submaps to generate a global map.

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Номер записи: 5
05-05-2022 дата публикации

DISTRIBUTED MEASUREMENT SYSTEM FOR SCANNING PROJECTS

Номер: US20220138157A1
Автор: Frank Aleksej, Ramadneh Ahmad, Santos João, Zweigle Oliver
Принадлежит:

A system and method for providing a distributed measurement system. The system performs operations that include receiving, via a user interface of a user device, a request from a requestor to access a data file of a project. The project includes a plurality of data files including the data file, and at least one of the one or more data files is generated based at least in part on measurement data output from a measurement device. Based on determining that the requestor has permission to access the data file, one or more editing options are provided for editing the data file. The one or more editing options vary based at least in part on one or both of a characteristic of the user device and a characteristic of the data file. The data file is edited in response to receiving an editing request.

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Номер записи: 6
09-06-2022 дата публикации

STABLE MOBILE PLATFORM FOR COORDINATE MEASUREMENT

Номер: US20220178492A1
Автор: Boehret Tobias, Brenner Mark, Frank Aleksej, Ramadneh Ahmad, Waheed Mufassar, Zweigle Oliver
Принадлежит:

Scanner stabilizing systems are described. The systems include a moving base configured to receive a scanner, at least one motor operably connected to the base to control at least one of an orientation and a position of the moving base about an axis, at least one mounting structure configured to fixedly attached to a mobile apparatus and wherein the at least one motor is attached to a respective one of the at least one mounting structures, and a stabilization controller operably connected to the at least one motor, wherein the stabilization controller is configured to maintain an orientation of the scanner relative to an environment. 1. A scanner stabilizing system comprising:a moving base configured to receive a scanner;at least one motor operably connected to the base to control at least one of an orientation and a position of the moving base about an axis;at least one mounting structure configured to fixedly attached to a mobile apparatus and wherein the at least one motor is attached to a respective one of the at least one mounting structures; anda stabilization controller operably connected to the at least one motor, wherein the stabilization controller is configured to maintain an orientation of the scanner relative to an environment.2. The scanner stabilizing system of claim 1 , wherein the stabilization controller includes an inertial measurement unit (IMU).3. The scanner stabilizing system of claim 1 , wherein the stabilization controller includes a proportional-integral-derivative (PID) controller.4. The scanner stabilizing system of claim 1 , wherein the at least one motor is a brushless DC motor.5. The scanner stabilizing system of claim 1 , wherein the at least one motor comprises a first motor and a second motor.6. The scanner stabilizing system of claim 5 , wherein an axis is defined through the first motor and the second motor.7. The scanner stabilizing system of claim 1 , wherein the orientation of the scanner relative to the environment is a ...

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Номер записи: 7
09-06-2022 дата публикации

THREE-DIMENSIONAL COORDINATE SCANNER

Номер: US20220180541A1
Автор: Brenner Mark, Frank Aleksej, Ramadneh Ahmad, Tahir Muhammad Umair, Waheed Mufassar, Zweigle Oliver
Принадлежит:

A three dimensional coordinate measurement device and method of measuring is provided. The device including a housing having a first axis and a second axis. A first depth camera is coupled to the housing, the first depth camera having a first optical axis aligned with the first axis. A second depth camera is coupled to the housing, the second depth camera having a second optical axis disposed on a first angle relative to the first axis. A third depth camera is coupled to the housing, the third depth camera having a third optical axis disposed on a second angle relative to the first axis, the second angle being different than the first angle. A rotational device is coupled to rotate the housing about the second axis. 1. A three dimensional coordinate measurement device comprising:a housing having a first axis and a second axis;a first depth camera coupled to the housing, the first depth camera having a first optical axis aligned with the first axis;a second depth camera coupled to the housing, the second depth camera having a second optical axis disposed on a first angle relative to the first axis;a third depth camera coupled to the housing, the third depth camera having a third optical axis disposed on a second angle relative to the first axis, the second angle being different than the first angle; anda rotational device coupled to rotate the housing about the second axis.2. The device of claim 1 , further comprising one or more processors operably coupled to the first depth camera claim 1 , the second depth camera claim 1 , and the third depth camera claim 1 , the one or more processors being configured to receive a first image data from the first depth camera claim 1 , a second image data from the second depth camera claim 1 , and a third image data from the third depth camera.3. The device of claim 2 , wherein the first image data claim 2 , the second image data claim 2 , and the third image data each include an image and distance data associated with the image.4 ...

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Номер записи: 8
09-04-2020 дата публикации

System and method of defining a path and scanning an environment

Номер: US20200109937A1
Автор: Ahmad RAMADNEH, Aleksej Frank, Joao Santos, Muhammad Umair Tahir, Oliver Zweigle, Tobias Boehret
Принадлежит: Faro Technologies Inc

A system and method for measuring three-dimensional (3D) coordinate values of an environment is provided. The method including moving a 2D scanner through the environment. A 2D map of the environment is generated using the 2D scanner. A path is defined through the environment using the 2D scanner. 3D scan locations along the path are defined using the 2D scanner. The 2D scanner is operably coupled to a mobile base unit. The mobile base unit is moved along the path based at least in part on the 2D map and the defined path. 3D coordinate values are measured at the 3D scan locations with a 3D scanner, the 3D scanner being coupled to the mobile base unit.

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Номер записи: 9
09-04-2020 дата публикации

System and method of defining a path and scanning an environment

Номер: US20200109943A1
Автор: Ahmad RAMADNEH, Aleksej Frank, Igor Sapina, Joao Santos, Johannes Buback, Julian Becker, Martin Ossig, Oliver Zweigle
Принадлежит: Faro Technologies Inc

A system and method for measuring three-dimensional (3D) coordinate values of an environment is provided. The system includes a movable base unit and a 2D scanner. A 3D scanner is coupled to the base unit, the 3D scanner measuring 3D coordinates and grey values of surfaces in the environment, the 3D scanner operating in either a compound or helical mode. Processors perform a method comprising: causing the 3D scanner to measure a first 3D coordinate values while operating in one of the compound or helical mode as the base unit is moved from the first to the second position; causing the 3D scanner to measure a second 3D coordinate values while operating in compound mode when the base unit is stationary between the first and second position; and registering the first 3D coordinate values and second 3D coordinate values into a single frame of reference.

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Номер записи: 10
13-05-2021 дата публикации

CORRECTING POSITIONS AFTER LOOP CLOSURE IN SIMULTANEOUS LOCALIZATION AND MAPPING ALGORITHM

Номер: US20210141061A1
Автор: Frank Aleksej, Ramadneh Ahmad, Waheed Mufassar, Zweigle Oliver
Принадлежит:

A method and system for generating a three-dimensional (3D) map of an environment is provided. An example method includes receiving a 3D scan and portions of a 2D map of the environment and receiving coordinates of the scan position in the 2D map. The method further includes associating the coordinates of the scan position with the portion of the 2D map. The method further includes linking the coordinates with the portion of the 2D map. The method further includes storing submap data for each of the plurality of submaps into a data object associated respective submaps. The method further includes performing a loop closure algorithm on each of the plurality of submaps. The method further includes, for each of the plurality of submaps for which the position anchor of the submap changed during performing the loop closure algorithm, determining a new data object position for the data objects. 1. A three-dimensional (3D) measuring device comprising:a processor system including at least one of a 3D scanner controller and a two-dimensional (2D) scanner processor;a 3D scanner operable to cooperate with the processor system to determine 3D coordinates;a 2D scanner accessory including a 2D scanner operable to cooperate with the processor system to determine 2D coordinates;a moveable platform operable to carry the 3D scanner and the 2D scanner, the 3D scanner being fixed relative to the 2D scanner; cause the 3D scanner, while fixedly located at a scan position, to cooperate with the processor system to acquire a 3D scan of an environment, wherein the 3D scan comprises a global position and is partitioned into a plurality of submaps, each of the plurality of submaps comprising a position anchor;', 'cause the 2D scanner to cooperate with the processor system to acquire a portion of a 2D map of the environment;', 'cause the 2D scanner to determine coordinates of the scan position in the 2D map in response to the 3D scanner initiating the acquisition of the 3D scan;', 'link the ...

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Номер записи: 11
10-06-2021 дата публикации

MOBILE SYSTEM AND METHOD OF SCANNING AN ENVIRONMENT

Номер: US20210172735A1
Автор: Becker Julian, Buback Johannes, Frank Aleksej, Ossig Martin, Ramadneh Ahmad, Santos João, Sapina Igor, Zweigle Oliver
Принадлежит:

A system and method for measuring three-dimensional (3D) coordinate values of an environment is provided. The system includes a movable base unit a first scanner and a second scanner. One or more processors performing a method that includes causing the first scanner to determine first plurality of coordinate values in a first frame of reference based on an emitted first beam of light and a received first reflected light. The second scanner determines a second plurality of 3D coordinate values in a second frame of reference as the base unit is moved from a first position to a second position. The determining of the first coordinate values and the second plurality of 3D coordinate values being performed simultaneously. The second plurality of 3D coordinate values are registered in a common frame of reference based on the first plurality of coordinate values. 1. A system for measuring three-dimensional (3D) coordinate values of an environment , the system comprising:a movable base unit;a first scanner coupled to the base unit, the scanner having a light source, an image sensor and a controller, the light source emitting a first beam of light and the image sensor being arranged to receive a first reflected light of the first beam of light;a second scanner coupled to the base unit, the second scanner operable to selectively measure 3D coordinates of surfaces in the environment, the second scanner having a rotary mirror arranged to reflect an emitted second beam of light and a second reflected light; and causing the first scanner to determine first plurality of coordinate values in a first frame of reference based at least in part on the emitted first beam of light and the received first reflected light;', 'causing the second scanner to determining a second plurality of 3D coordinate values in a second frame of reference as the base unit is moved from a first position to a second position, the determining of the first coordinate values and the second plurality of 3D ...

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Номер записи: 12
14-05-2020 дата публикации

System and method of scanning an environment

Номер: US20200151890A1
Автор: Ahmad RAMADNEH, Aleksej Frank, Joao Santos, Oliver Zweigle
Принадлежит: Faro Technologies Inc

A system and method of generating a two-dimensional image of an environment is provided. The system includes a 2D scanner that comprises a light source, an image sensor and a controller. The controller determines a distance value to at least one of the object points. An inertial measurement unit is coupled to the scanner and has a first sensor. The first sensor has a first characteristic. A mobile computing device is removably coupled to the 2D scanner, the mobile computing device having a second sensor, the second sensor having a second characteristic. Processors are provided that are responsive to compare the first characteristic and the second characteristic and select one of the first or second sensor based on the comparison. The processors are further generate an image of the environment based on a signal from the selected first or second sensor.

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Номер записи: 13
18-06-2020 дата публикации

SYSTEM AND METHOD OF DEFINING A PATH AND SCANNING AN ENVIRONMENT

Номер: US20200191555A1
Автор: Boehret Tobias, Frank Aleksej, Ramadneh Ahmad, Santos João, Tahir Muhammad Umair, Zweigle Oliver
Принадлежит:

A system and method for measuring three-dimensional (3D) coordinate values of an environment is provided. The method including moving a 2D scanner through the environment. A 2D map of the environment is generated using the 2D scanner. A path is defined through the environment using the 2D scanner. 3D scan locations along the path are defined using the 2D scanner. The 2D scanner is operably coupled to a mobile base unit. The mobile base unit is moved along the path based at least in part on the 2D map and the defined path. 3D coordinate values are measured at the 3D scan locations with a 3D scanner, the 3D scanner being coupled to the mobile base unit. 1. A system for measuring three-dimensional (3D) coordinate values of an environment , the system comprising:a base unit having a plurality of wheels;a 2D scanner removably coupled to the base unit, the 2D scanner including a light source, an image sensor and a controller, the controller being configured to determine a distance value to one or more object points in the environment based on emitting a beam of light with the light source and receiving the beam of light with the image sensor;a 3D scanner coupled to the base unit, the 3D scanner operable to selectively measure 3D coordinates of surfaces in the environment; andone or more processors operably coupled to the base unit, the 2D scanner and the 3D scanner, the one or more processors being responsive to nontransitory executable instructions for performing a method comprising:generating a 2D map of the environment using the 2D scanner when the 2D scanner is uncoupled from the base unit;defining a path through the environment based at least in part on the 2D map;defining 3D scan locations along the path based at least in part on the 2D map;causing the mobile base unit to move along the path; andcausing the 3D scanner to measure 3D coordinate values at the 3D scan locations; andstoring the 3D coordinate values in memory.2. The system of claim 1 , wherein the ...

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Номер записи: 14
15-08-2019 дата публикации

System and method of on-site documentation enhancement through augmented reality

Номер: US20190251741A1
Автор: Ahmad RAMADNEH, Aleksej Frank, Joao Santos, Oliver Zweigle
Принадлежит: Faro Technologies Inc

Technical solutions are described for generating an augmented reality map of an environment. An example method includes obtaining, by a 2D scanner, a 2D scan set including 2D coordinates of points in the environment. The method further includes capturing and displaying, by a portable computing device, a live video stream of a field of view, the portable computing device being fixed at a relative position with respect to the 2D scanner. The method further includes displaying a selection marker overlaid on the live video stream at a location in response to a user input. The method further includes projecting a beam of visible light on an object point in the field of view, corresponding to the location on the display of the selection marker. The method further includes receiving, via the portable computing device, a selection input and in response generating and storing an annotation at the object point.

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Номер записи: 15
06-08-2020 дата публикации

SYSTEM AND METHOD FOR PERFORMING A REAL-TIME WALL DETECTION

Номер: US20200249013A1
Автор: Frank Aleksej, Ramadneh Ahmad, Santos João, Zweigle Oliver
Принадлежит:

Provided are embodiments for a system and method for performing real-time detection for mapping. The embodiments include one or more processors, a scanner, and a mobile computing device removably coupled to the 2D scanner where the mobile computing device having a display. Embodiments include collecting scan data of an environment to generate a first map and identifying lines from the collected scan data corresponding to a surface of a structure. Embodiments also include grouping the identified lines into buckets based at least in part on a characteristic of the identified lines and combining the identified lines in each bucket. Embodiments also include optimizing the first map to generate a second map and displaying the second map on the display. 1. A system for performing real-time detection for mapping , the system comprising:one or more processors;a scanner; anda mobile computing device removably coupled to the 2D scanner, the mobile computing device having a display; collect scan data of an environment to generate a first map;', 'identify lines from the collected scan data corresponding to a surface of a structure;', 'group the identified lines into categories based at least in part on a characteristic of the identified lines;', 'combine the identified lines in each category;', 'optimize the first map to generate a second map; and', 'display the second map on the display., 'wherein the one or more processor are responsive to executable instructions which when executed by the one or more processors to2. The system of claim 1 , wherein combining the identified lines comprises the one or more processors are further responsive to executable instructions which when executed by the one or more processors to:calculate an average orientation of the identified lines in each category;change the orientation of the identified lines in each category according to the calculated average orientation;responsive to changing the orientation, determine a distance between each of ...

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Номер записи: 16
20-08-2020 дата публикации

SYSTEM AND METHOD OF SCANNING TWO DIMENSIONAL FLOORPLANS USING MULTIPLE SCANNERS CONCURRENTLY

Номер: US20200265621A1
Автор: Frank Aleksej, Ramadneh Ahmad, Santos João, Zweigle Oliver
Принадлежит:

One or more embodiments are described for generating a two dimensional map of an environment using a set of submaps that include point clouds of the environment that are captured using multiple scanner systems that move independently from one position to another in the environment. Each 2D scanner system steers a beam of light within a first plane to illuminate object points in the environment, and a controller determines a distance value to at least one of the object points. The 2D submaps of the environment are generated based on an activation signal from an operator and based at least in part on the distance value, each submap generated from a respective point in the environment and by a respective 2D scanner system. A central processor generates the 2D image of the environment using the 2D submaps. 1. A system of generating a two-dimensional (2D) image of an environment , the system comprising:a plurality of 2D scanner systems, each 2D scanner system comprising a light source, an image sensor and a controller, the light source steers a beam of light within a first plane to illuminate object points in the environment, the image sensor is arranged to receive light reflected from the object points, the controller being operable to determine a distance value to at least one of the object points;one or more processors operably coupled to the 2D scanner system, the one or more processors being responsive to non-transitory executable instructions for generating a plurality of 2D submaps of the environment in response to an activation signal from an operator and based at least in part on the distance value, each submap generated from a respective point in the environment and by a respective 2D scanner system; anda central processor operable coupled to the one or more processors, the central processor being responsive to non-transitory executable instructions for generating the 2D image of the environment using the 2D submaps from the 2D scanner system.2. The system of ...

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Номер записи: 17
05-09-2019 дата публикации

System and method of scanning and editing two dimensional floorplans

Номер: US20190272655A1
Автор: Ahmad RAMADNEH, Aleksej Frank, Joao Santos, Oliver Zweigle
Принадлежит: Faro Technologies Inc

One or more embodiments are described for generating a two dimensional map of an environment using a set of submaps that include point clouds of the environment that are captured using a scanner device that is moved from one position to another in the environment. An example method includes revising the two-dimensional map by editing at least one of the submaps from the set, independently of the other submaps from the set. In one or more examples, the editing may be based on one or more of the other submaps from the set. The one or more embodiments facilitate revising the two-dimensional map in an offline manner and without rescanning the environment.

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Номер записи: 18
04-10-2018 дата публикации

SYSTEM AND METHOD OF SCANNING AN ENVIRONMENT AND GENERATING TWO DIMENSIONAL IMAGES OF THE ENVIRONMENT

Номер: US20180285482A1
Автор: Frank Aleksej, Raab Simon, Ramadneh Ahmad, Santos João, White Derik J., Zweigle Oliver
Принадлежит:

A system and method of generating a two-dimensional (2D) image of an environment is provided. The system includes a housing having a body and a handle. A 2D scanner is disposed in the body and has a light source, an image sensor and a controller, the light source steers a beam of light within a first plane to illuminate object points in the environment. The image sensor is arranged to receive light reflected from the object points and the controller determines a distance value to at least one of the object points. An inertial measurement unit is provided having a 3D accelerometer and a 3D gyroscope. One or more processors are responsive to executable instructions for generating a 2D image of the environment in response to an activation signal from an operator and based at least in part on the distance values and the signal. 1. A system of generating a two-dimensional (2D) image of an environment , the system comprising:a housing having a body and a handle, the housing being sized to be carried by a single person during operation, the body having a first plane extending therethrough;a 2D scanner disposed in the body and having a light source, an image sensor and a controller, the light source steers a beam of light within the first plane to illuminate object points in the environment, the image sensor is arranged to receive light reflected from the object points, the controller being operable to determine a distance value to at least one of the object points;an inertial measurement unit disposed in the housing and having a three-dimensional accelerometer and a three-dimension gyroscope, the inertial measurement unit generating a signal in response a change in position or orientation of the housing; andone or more processors operably coupled to the inertial measurement unit and the 2D scanner, the one or more processors being responsive to executable instructions for generating a 2D image of the environment in response to an activation signal from an operator and ...

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Номер записи: 19
24-09-2020 дата публикации

Distributed measurement system for scanning projects

Номер: US20200301885A1
Автор: Ahmad RAMADNEH, Aleksej Frank, Joao Santos, Oliver Zweigle
Принадлежит: Faro Technologies Inc

A system and method for providing a distributed measurement system. The system performs operations that include receiving, via a user interface of a user device, a request to access a data file of a project. The project includes one or more data files including the data file, and at least one of the one or more data files is generated based at least in part on measurement data output from a measurement device. One or more editing options are provided for editing the data file. The one or more editing options vary based at least in part on one or both of a characteristic of the user device and a characteristic of the data file. The data file is edited in response to receiving an editing request that includes an editing option of the one or more editing options.

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Номер записи: 20
03-10-2019 дата публикации

SYSTEM AND METHOD OF AUTOMATIC ROOM SEGMENTATION FOR TWO-DIMENSIONAL FLOORPLAN ANNOTATION

Номер: US20190304150A1
Автор: Frank Aleksej, Ramadneh Ahmad, Santos João, Zweigle Oliver
Принадлежит:

A system that includes a coordinate measurement scanner having a first image sensor, one or more processors coupled to the scanner for generating a 2D image of the environment, a portable computing device having a second image sensor coupled to the one or more processors, and a mapping system. The one or more processors correlate a location captured by a first image from the portable computing device with the location in the 2D image of the environment in response to the first image being acquired by the second image sensor. The system further includes a mapping system configured to: generate a 2D map based on the 2D image of the environment, apply image recognition to the first image to identify and label an object in the first image, and update the 2D map based at least in part on the label of the object in the first image. 1. A system of generating a two-dimensional (2D) map of an environment , the system comprising:a coordinate measurement scanner comprising a light source, a first image sensor and a controller, the light source emits a beam of light to illuminate object points in the environment, the first image sensor is arranged to receive light reflected from the object points, the controller being operable to determine a distance value to at least one of the object points;one or more processors operably coupled to the scanner, the one or more processors being responsive to executable instructions for generating a 2D image of the environment in response to an activation signal from an operator and based at least in part on the distance value;a portable computing device having a second image sensor, the portable computing device being coupled for communication to the one or more processors, wherein the one or more processors are responsive to correlate a location captured by a first image from the portable computing device with the location in the 2D image of the environment in response to the first image being acquired by the second image sensor; and ...

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Номер записи: 21
24-09-2020 дата публикации

WEARABLE SCANNING DEVICE FOR GENERATING FLOORPLAN

Номер: US20200304690A1
Автор: Frank Aleksej, Raith Roland, Ramadneh Ahmad, Santos João, Tahir Muhammad Umair, Zweigle Oliver
Принадлежит:

According to one or more embodiments, a system of generating a two-dimensional (2D) image of an environment includes a 2D scanner system that includes a measurement device that is mounted to a first body equipment of an operator and one or more processors that are mounted to a second body equipment of the operator. The measurement device includes a light source, an image sensor, and a controller to determine a distance value to one or more object points. The processors generate a 2D submap of the environment in response to an activation signal from the operator and based at least in part on the distance value, each submap generated from a respective point in the environment. Further, the processors generate a 2D image of the environment using multiple 2D submaps. 1. A system of generating a two-dimensional (2D) image of an environment , the system comprising: a measurement device that is mounted to a first body equipment of an operator, the measurement device comprising a light source, an image sensor, and a controller, wherein, the light source steers a beam of light within a first plane to illuminate object points in the environment, the image sensor is arranged to receive light reflected from the object points, the controller being operable to determine a distance value to at least one of the object points; and', generating a 2D submap of the environment in response to an activation signal from the operator and based at least in part on the distance value, each submap generated from a respective point in the environment; and', 'generating the 2D image of the environment using the 2D submaps., 'one or more processors that are mounted to a second body equipment of the operator, the one or more processors are operably coupled to the 2D scanner system, the one or more processors being responsive to non-transitory executable instructions for], 'a 2D scanner system comprising2. The system of claim 1 , wherein the 2D submaps are for distinct portions of the environment. ...

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Номер записи: 22
24-10-2019 дата публикации

System and method of scanning an environment

Номер: US20190325592A1
Автор: Ahmad RAMADNEH, Aleksej Frank, Joao Santos, Oliver Zweigle
Принадлежит: Faro Technologies Inc

A system and method of generating a two-dimensional image of an environment is provided. The system includes a 2D scanner that comprises a light source, an image sensor and a controller. The controller determines a distance value to at least one of the object points. An inertial measurement unit is coupled to the scanner and has a first sensor. The first sensor has a first characteristic. A mobile computing device is removably coupled to the 2D scanner, the mobile computing device having a second sensor, the second sensor having a second characteristic. Processors are provided that are responsive to compare the first characteristic and the second characteristic and select one of the first or second sensor based on the comparison. The processors are further generate an image of the environment based on a signal from the selected first or second sensor.

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Номер записи: 23
31-10-2019 дата публикации

System and method of one touch registration of three-dimensional scans with an augmented reality enabled mobile computing device

Номер: US20190335160A1
Автор: Ahmad RAMADNEH, Aleksej Frank, Joao Santos, Oliver Zweigle
Принадлежит: Faro Technologies Inc

A system for using an augmented reality (AR) enabled mobile computing device for performing one-touch registration of three-dimensional (3D) scans of an environment is provided. The system includes one or more processors, a mobile computing device, and a 3D scanner being movable from a first position to a second position. The processors are responsive to executable instructions which cause the 3D scanner at the first and second positions to determine 3D coordinates of a first and second collection of points on object surfaces in the environment. In addition, the 3D scanner receives an estimated location of the mobile computing device from the mobile device in response to the 3D scanner being in contact with the mobile computing device at the first and second locations. A registration of the first collection of points and the second collection of points is based on the estimated locations of the mobile computing device.

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Номер записи: 24
07-11-2019 дата публикации

SYSTEM MEASURING 3D COORDINATES AND METHOD THEREOF

Номер: US20190339391A1
Автор: Frank Aleksej, Ramadneh Ahmad, Santos João, Zweigle Oliver
Принадлежит:

A system and method of measuring 3D points is provided. The method includes defining a first frame of reference with a mobile computing device. A second frame of reference is defined with a mobile 3D measurement device. The mobile computing device is moved within a predetermined distance of the mobile 3D measurement device. The first frame of reference and the second frame of reference are registered when the mobile computing device is within the predetermined distance from the mobile 3D measurement device. The mobile computing device is moved along a path to define a trajectory in the first frame of reference. The trajectory is transmitted to the mobile 3D measurement device. The mobile 3D measurement device is moved along the trajectory in response to receiving the trajectory. 3D coordinates of point on an object are acquired with the mobile 3D measurement device. 1. A system for measuring three-dimensional (3D) coordinates , the system comprising: tracking a position of the mobile computing device relative to a first frame of reference;', 'defining a trajectory based on the tracking of the position in response to a first user input;', 'defining one or more scan points in the first frame of reference in response to a second user input; and,, 'a mobile computing device having a camera and one or more first processors, the one or more first processes being operable to optically determine and track a position of the mobile computing device based on images acquired by the camera as the mobile computing device is moved within an environment, the mobile computing device further having a first communications module, the one or more first processors are responsive to nontransitory executable computer instructions when executed on the one or more first processors to perform a first method comprising defining a second frame of reference;', 'receiving the trajectory and the one or more scan points in the first frame of reference from the mobile computing device; and', ' ...

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Номер записи: 25
07-11-2019 дата публикации

System and method of representing and tracking time-based information in two-dimensional building documentation

Номер: US20190340433A1
Автор: Ahmad RAMADNEH, Aleksej Frank, Joao Santos, Oliver Zweigle
Принадлежит: Faro Technologies Inc

A system that includes computer executable instructions that, when executed by the processor, cause the processor to perform operations including receiving a first 2D map of a location. The first 2D map was generated at a first time based on first scan data from a coordinate measurement scanner and a portable computing device. The coordinate measurement scanner includes a light source, a first image sensor, and a controller. The portable computing device includes a second image sensor. A second 2D map of the location is received. The second 2D map was generated at a second time based on second scan data from the coordinate measurement scanner and the portable computing device. The first 2D map is aligned with the second 2D map, and their contents are compared. Any differences in the contents of the first 2D map and the second 2D map are output.

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Номер записи: 26
12-11-2020 дата публикации

SYSTEM AND METHOD OF DEFINING A PATH AND SCANNING AN ENVIRONMENT

Номер: US20200355488A1
Автор: Boehret Tobias, Frank Aleksej, Ramadneh Ahmad, Santos João, Tahir Muhammad Umair, Zweigle Oliver
Принадлежит:

A system and method for measuring three-dimensional (3D) coordinate values of an environment is provided. The method including moving a scanning platform through the environment along a path. The position of the scanning platform is localized using the scanner. 3D coordinate values are with a 3D scanner that is coupled to the scanning platform. 1. A system for measuring three-dimensional (3D) coordinate values of an environment , the system comprising:a mobile base unit;a scanner coupled to the base unit, the scanner including a light source, an image sensor and a controller, the controller being configured to determine a distance value to one or more object points in the environment based on emitting a beam of light with the light source and receiving the beam of light with the image sensor;a 3D scanner coupled to the base unit, the 3D scanner operable to selectively measure 3D coordinates of surfaces in the environment; andone or more processors operably coupled to the base unit, the scanner and the 3D scanner, the one or more processors being responsive to nontransitory executable instructions for performing a method comprising:moving the mobile base unit through the environment along a path;localizing the mobile base unit within the environment based at least in part on the scanner emitting and receiving the beam of light while the mobile base unit is moved along the path;causing the 3D scanner to measure 3D coordinate values of the environment; andstoring the 3D coordinate values in memory.2. The system of claim 1 , wherein the scanner is a two-dimensional (2D) scanner that sweeps the beam of light in a substantially horizontal plane.3. The system of claim 2 , wherein the 3D scanner is a time-of-flight (TOF) coordinate measurement device configured to measure the 3D coordinate values in a volume about the 3D scanner.4. The system of claim 2 , wherein the 3D scanner is a triangulation scanner.5. The system of claim 4 , wherein the one or more processors is ...

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Номер записи: 27
12-11-2020 дата публикации

System and method of scanning and aquiring images of an environment

Номер: US20200359003A1
Автор: Ahmad RAMADNEH, Aleksej Frank, Joao Santos, Oliver Zweigle
Принадлежит: Faro Technologies Inc

A system and method of scanning an environment and acquiring an image is provided. The system includes a mobile device having a camera and a first position indicator. A scanner having a light emitter and a light receiver is provided. The scanner determining coordinates of surfaces in an environment in response to emitting light with the light emitter and receiving light with the light receiver, the scanner having a second position indicator. One or more processors are provided that determine the position of the mobile computing device and transmits the data between the scanner in response to the first position indicator engaging the second position indicator.

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Номер записи: 28
03-12-2020 дата публикации

SYSTEM AND METHOD FOR AUTOMATICALLY GENERATING SCAN LOCATIONS FOR PERFORMING A SCAN OF AN ENVIRONMENT

Номер: US20200379116A1
Автор: Frank Aleksej, Raab Simon, Ramadneh Ahmad, Santos João, Zweigle Oliver
Принадлежит:

Provided are embodiments including a system for automatically generating a plan of scan locations for performing a scanning operation where the system includes a storage medium that is coupled to a processor. The processor is configured to receive a map of an environment, apply a distance transform to the map, wherein the distance transform determines a path through the map, wherein the path comprises a plurality of points, and identify a set of candidate scan locations based on the path. The processor is also configured to select scan locations from the set of candidate scan locations for performing 3D scans, and perform the 3D scans of the environment based on the selected scan locations. Also provided are embodiments for a method and computer program product for automatically generating a plan of scan locations for performing a scanning operation. 1. A system for automatically generating a plan of scan locations for performing a scanning operation , the system comprising:a storage medium, the storage medium being coupled to a processor; receive a map of an environment;', 'apply a distance transform to the map, wherein the distance transform determines a path through the map, wherein the path comprises a plurality of points;', 'identify a set of candidate scan locations based on the path;', 'select scan locations from the set of candidate scan locations for performing 3D scans; and', 'perform the 3D scans of the environment based on the selected scan locations., 'the processor configured to2. The system of claim 1 , wherein identifying scan locations from the set of candidate scan locations comprises the processor further configured to iterate through each of the scan locations in the path corresponding to scan locations for performing the 3D scans;identify non-occupied pixels within a range of each scan location of the plurality of scan locations, wherein the range is based at least in part on a scanning parameter;count non-occupied pixels within the range of ...

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Номер записи: 29
03-12-2020 дата публикации

System and method of automatic re-localization and automatic alignment of existing non-digital floor plans

Номер: US20200380195A1
Автор: Ahmad RAMADNEH, Aleksej Frank, Joao Santos, Oliver Zweigle
Принадлежит: Faro Technologies Inc

A system and method of automatic re-localization of a handheld scanning device in a previously mapped environment is provided. The system includes a two-dimensional (2D) scanner and one or more processors operably coupled to the 2D scanner. The one or more processors are responsive to non-transitory executable instructions for performing operations that include determining a current location of the 2D scanner in the environment relative to a location in a previously generated 2D image of the environment that was generated based on an image of a non-digital floorplan. The operations also include generating a new 2D image of at least a subset of the environment. The at least a subset of the environment includes the current location of the 2D scanner and at least one other location in the environment. The operations further include overlapping portions of the previously generated 2D image and the new 2D image.

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Номер записи: 30
10-12-2020 дата публикации

SYSTEM AND METHOD OF SCANNING AN ENVIRONMENT AND GENERATING TWO DIMENSIONAL IMAGES OF THE ENVIRONMENT

Номер: US20200387644A1
Автор: Frank Aleksej, Raab Simon, Ramadneh Ahmad, Santos João, White Derik J., Zweigle Oliver
Принадлежит:

Systems and methods of generating two-dimensional (2D) images of an environment are provided. The systems includes a measurement device and a processor configured to generate a 2D image of an environment based at least in part on a number of 2D scans, a first translation value, a first translation direction, a second translation value, a second translation direction, a first rotation value, and a second rotation value. Generating the 2D image further includes generating a grid map that includes a plurality of cells, each of the plurality of cells indicating a probability of a cell area being occupied. 1. A system for generating a two-dimensional (2D) image of an environment , the system comprising:a measurement device configured to be moved to a plurality of registration positions in the environment, the measurement device having a 2D scanner and is sized and weighted to be carried by a single operator, the 2D scanner being configured to sweep a beam of light in a horizontal plane, wherein the plurality of registration positions includes a first registration position and a second registration position;wherein the measurement device is configured to obtain a first plurality of 2D scan sets using the 2D scanner while the measurement device moves from the first registration position to the second registration position, each of the first plurality of 2D scan sets being a set of 2D coordinates of points in the environment, each of the first plurality of 2D scan sets being collected by the 2D scanner at a different position relative to the first registration position;wherein the measurement device is configured to determine a first translation value corresponding to a first translation direction, a second translation value corresponding to a second translation direction, a first rotation value corresponding to a first orientational axis, and a second rotation value corresponding to a second orientational axis, wherein the first translation value, the second translation ...

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Номер записи: 31
26-12-2019 дата публикации

System and method of scanning an environment

Номер: US20190392600A1
Автор: Ahmad RAMADNEH, Aleksej Frank, Joao Santos, Oliver Zweigle
Принадлежит: Faro Technologies Inc

A system and method of generating a two-dimensional image of an environment is provided. The system includes a 2D scanner that comprises a light source, an image sensor and a controller. The controller determines a distance value to at least one of the object points. An inertial measurement unit is coupled to the scanner and has a first sensor. The first sensor has a first characteristic. A mobile computing device is removably coupled to the 2D scanner, the mobile computing device having a second sensor, the second sensor having a second characteristic. Processors are provided that are responsive to compare the first characteristic and the second characteristic and select one of the first or second sensor based on the comparison. The processors are further generate an image of the environment based on a signal from the selected first or second sensor.

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Номер записи: 32
26-12-2019 дата публикации

System and method of scanning and editing two dimensional floorplans

Номер: US20190392622A1
Автор: Ahmad RAMADNEH, Aleksej Frank, Joao Santos, Oliver Zweigle
Принадлежит: Faro Technologies Inc

A system and method of generating a two-dimensional (2D) image of an environment is provided. The system includes a 2D scanner having a controller that determines a distance value to at least one of the object points. One or more processors are operably coupled to the 2D scanner, the one or more processors being responsive to nontransitory executable instructions for generating a plurality of 2D submaps of the environment based at least in part on the distance value, each submap generated from a different point in the environment. A map editor is provided that is configured to: select a subset of submaps from the plurality of 2D submaps; and generate the 2D image of the environment using the subset of 2D submaps. The method provides for realigning of 2D submaps to improve the quality of a global 2D map.

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Номер записи: 33
17-11-2022 дата публикации

Generating environmental map by aligning captured scans

Номер: US20220365217A1
Автор: Ahmad RAMADNEH, Aleksej Frank, Mark BRENNER, Oliver Zweigle
Принадлежит: Faro Technologies Inc

A method for performing a simultaneous location and mapping of a scanner device in a surrounding environment includes capturing a scan-data of a portion of a map of the surrounding environment. The scan-data comprises a point cloud. Further, at runtime, a user-interface is used to make, a selection of a feature from the scan-data, and a selection of a submap that was previously captured. The submap includes the same feature. The method further includes determining a first scan position as a present position of the scanner device, and determining a second scan position as a position of the scanner device. The method further includes determining a displacement vector for the map based on the first and the second scan positions. Further, a revised first scan position is computed based on the second scan position and the displacement vector. The scan-data is registered using the revised first scan position.

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Номер записи: 34
29-12-2022 дата публикации

CAPTURING ENVIRONMENTAL SCANS USING AUTOMATED TRANSPORTER ROBOT

Номер: US20220410401A1
Автор: Brenner Mark, Frank Aleksej, Ramadneh Ahmad, Waheed Mufassar, Zweigle Oliver
Принадлежит:

A system includes a transporter robot with a motion controller that changes the transporter robot's poses during transportation. A scanning device is fixed to the transporter robot. One or more processors are coupled to the transporter robot and the scanning device to generate a map of the surrounding environment. At a timepoint T, when the transporter robot is stationary at a first location, a first pose of the transporter robot is captured. During transporting the scanning device, at a timepoint T, the scanning device captures additional scan-data of a portion of the surrounding environment. In response, the motion controller provides a second pose of the transporter robot at T. A compensation vector and a rotation for the scan-data are determined based on a difference between the first pose and the second pose. A revised scan-data is computed, and the revised scan-data is registered to generate the map. 1. A system comprising:a transporter robot that comprises a motion controller and one or more motion apparatus that causes the transporter robot to change poses during transportation;a scanning device configured to capture a scan-data of a surrounding environment, the scanning device fixed to the transporter robot via a mount; and [{'b': '1', 'recording, at a timepoint T, at which the transporter robot is stationary at a first location, a first pose of the transporter robot;'}, 'transporting the scanning device, by the transporter robot, from the first location to another location;', {'b': '2', 'during the transporting, at a timepoint T, capturing, by the scanning device, the scan-data corresponding to a portion of the surrounding environment;'}, [{'b': '2', 'receiving, from the motion controller, a second pose of the transporter robot at the timepoint T;'}, 'determining a compensation vector and a rotation for the scan-data based on a difference between the first pose and the second pose of the transporter robot;', 'computing a revised scan-data based on the ...

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Номер записи: 35
01-12-2021 дата публикации

Capturing environmental scans using landmarks based on semantic features

Номер: EP3916422A1
Автор: Ahmad RAMADNEH, Aleksej Frank, Mark BRENNER, Oliver Zweigle
Принадлежит: Faro Technologies Inc

A method for performing a simultaneous location and mapping of a scanner device includes detecting a set of lines in a point cloud, and identifying a semantic feature based on the set of lines. The method further includes assigning a first scan position of the scanner device in the surrounding environment at the present time t1 as a landmark, and linking the landmark with the portion of the map. The method further includes determining that the scanner device has moved, at time t2, to the scan position that was marked as the landmark based on identifying said semantic feature in another scan-data. In response, a second scan position at time t2 is determined. Also, a displacement vector is determined for the map based on a difference between the first scan position and the second scan position. Subsequently, a revised second scan position is computed based on the displacement vector.

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Номер записи: 36
11-04-2023 дата публикации

System and method for automatically generating scan locations for performing a scan of an environment

Номер: US11624833B2
Автор: Ahmad RAMADNEH, Aleksej Frank, Joao Santos, Oliver Zweigle, Simon Raab
Принадлежит: Faro Technologies Inc

Provided are embodiments including a system for automatically generating a plan of scan locations for performing a scanning operation where the system includes a storage medium that is coupled to a processor. The processor is configured to receive a map of an environment, apply a distance transform to the map, wherein the distance transform determines a path through the map, wherein the path comprises a plurality of points, and identify a set of candidate scan locations based on the path. The processor is also configured to select scan locations from the set of candidate scan locations for performing 3D scans, and perform the 3D scans of the environment based on the selected scan locations. Also provided are embodiments for a method and computer program product for automatically generating a plan of scan locations for performing a scanning operation.

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Номер записи: 37
06-05-2021 дата публикации

Using virtual landmarks during environment scanning

Номер: US20210136350A1
Автор: Ahmad RAMADNEH, Aleksej Frank, Mufassar Waheed, Oliver Zweigle
Принадлежит: Faro Technologies Inc

Generating a three-dimensional (3D) map of an environment includes receiving, via a 3D-scanner that is mounted on a moveable platform, a 3D-scan of the environment while the moveable platform moves through the environment. The method further includes receiving via a two-dimensional (2D) scanner that is mounted on the moveable platform, a portion of a 2D-map of the environment, and receiving first coordinates of the scan position in the 2D-map. The method further includes associating the scan position with the portion of the 2D-map as a virtual landmark. In response to the movable platform being brought back at the virtual landmark, a displacement vector for the 2D-map is determined based on a difference between the first coordinates and a second coordinates that are determined for the scan position. A revised scan position is calculated based on the displacement vector, and the revised scan position is used to register the 3D-scan.

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Номер записи: 38
02-12-2021 дата публикации

Capturing environmental scans using landmarks based on semantic features

Номер: US20210373165A1
Автор: Ahmad RAMADNEH, Aleksej Frank, Mark BRENNER, Oliver Zweigle
Принадлежит: Faro Technologies Inc

A method for performing a simultaneous location and mapping of a scanner device includes detecting a set of lines in a point cloud, and identifying a semantic feature based on the set of lines. The method further includes assigning a first scan position of the scanner device in the surrounding environment at the present time t 1 as a landmark, and linking the landmark with the portion of the map. The method further includes determining that the scanner device has moved, at time t 2, to the scan position that was marked as the landmark based on identifying said semantic feature in another scan-data. In response, a second scan position at time t 2 is determined. Also, a displacement vector is determined for the map based on a difference between the first scan position and the second scan position. Subsequently, a revised second scan position is computed based on the displacement vector.

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Номер записи: 39
19-03-2024 дата публикации

Distributed measurement system for scanning projects

Номер: US11934355B2
Автор: Ahmad RAMADNEH, Aleksej Frank, Joao Santos, Oliver Zweigle
Принадлежит: Faro Technologies Inc

A system and method for providing a distributed measurement system. The system performs operations that include receiving, via a user interface of a user device, a request from a requestor to access a data file of a project. The project includes a plurality of data files including the data file, and at least one of the one or more data files is generated based at least in part on measurement data output from a measurement device. Based on determining that the requestor has permission to access the data file, one or more editing options are provided for editing the data file. The one or more editing options vary based at least in part on one or both of a characteristic of the user device and a characteristic of the data file. The data file is edited in response to receiving an editing request.

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Номер записи: 40
12-03-2024 дата публикации

Correcting positions after loop closure in simultaneous localization and mapping algorithm

Номер: US11927692B2
Автор: Ahmad RAMADNEH, Aleksej Frank, Mufassar Waheed, Oliver Zweigle
Принадлежит: Faro Technologies Inc

A method and system for generating a three-dimensional (3D) map of an environment is provided. An example method includes receiving a 3D scan and portions of a 2D map of the environment and receiving coordinates of the scan position in the 2D map. The method further includes associating the coordinates of the scan position with the portion of the 2D map. The method further includes linking the coordinates with the portion of the 2D map. The method further includes storing submap data for each of the plurality of submaps into a data object associated respective submaps. The method further includes performing a loop closure algorithm on each of the plurality of submaps. The method further includes, for each of the plurality of submaps for which the position anchor of the submap changed during performing the loop closure algorithm, determining a new data object position for the data objects.

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Номер записи: 41
19-03-2024 дата публикации

Generating textured three-dimensional meshes using two-dimensional scanner and panoramic camera

Номер: US11936843B2
Автор: Ahmad RAMADNEH, Aleksej Frank, Mark BRENNER, Mufassar Waheed, Oliver Zweigle
Принадлежит: Faro Technologies Inc

Techniques are described for converting a 2D map into a 3D mesh. The 2D map of the environment is generated using data captured by a 2D scanner. Further, a set of features is identified from a subset of panoramic images of the environment that are captured by a camera. Further, the panoramic images from the subset are aligned with the 2D map using the features that are extracted. Further, 3D coordinates of the features are determined using 2D coordinates from the 2D map and a third coordinate based on a pose of the camera. The 3D mesh is generated using the 3D coordinates of the features.

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Номер записи: 42
04-01-2024 дата публикации

Capturing environmental scans using landmarks based on semantic features

Номер: US20240004080A1
Автор: Ahmad RAMADNEH, Aleksej Frank, Mark BRENNER, Oliver Zweigle
Принадлежит: Faro Technologies Inc

A method is provided that includes recording a landmark at a first scan position of a scanner, the landmark based at least in part on a semantic feature of scan data captured by the scanner. The semantic feature is identified using line-segments of the scan data. The method further includes capturing, by the scanner while moving through the environment, additional scan data at a second scan position. The method further includes, responsive to the scanner returning to the first scan position associated with the landmark, computing a measurement error. The method further includes correcting, using the measurement error, at least a portion of the scan data or the additional scan data.

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Номер записи: 43
09-01-2024 дата публикации

Capturing environmental scans using landmarks based on semantic features

Номер: US11867818B2
Автор: Ahmad RAMADNEH, Aleksej Frank, Mark BRENNER, Oliver Zweigle
Принадлежит: Faro Technologies Inc

A method for performing a simultaneous location and mapping of a scanner device includes detecting a set of lines in a point cloud, and identifying a semantic feature based on the set of lines. The method further includes assigning a first scan position of the scanner device in the surrounding environment at the present time t 1 as a landmark, and linking the landmark with the portion of the map. The method further includes determining that the scanner device has moved, at time t 2 , to the scan position that was marked as the landmark based on identifying said semantic feature in another scan-data. In response, a second scan position at time t 2 is determined. Also, a displacement vector is determined for the map based on a difference between the first scan position and the second scan position. Subsequently, a revised second scan position is computed based on the displacement vector.

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Номер записи: 44
03-10-2023 дата публикации

System and method of scanning an environment and generating two dimensional images of the environment

Номер: US11775701B2
Автор: Ahmad RAMADNEH, Aleksej Frank, Derik J. White, Joao Santos, Oliver Zweigle, Simon Raab
Принадлежит: Faro Technologies Inc

Systems and methods of generating two-dimensional (2D) images of an environment are provided. The systems includes a measurement device and a processor configured to generate a 2D image of an environment based at least in part on a number of 2D scans, a first translation value, a first translation direction, a second translation value, a second translation direction, a first rotation value, and a second rotation value. Generating the 2D image further includes generating a grid map that includes a plurality of cells, each of the plurality of cells indicating a probability of a cell area being occupied.

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Номер записи: 45
02-02-2023 дата публикации

System and method of automatic room segmentation for two-dimensional laser floorplans

Номер: US20230033632A1
Автор: Ahmad RAMADNEH, Aleksej Frank, Mark BRENNER, Mufassar Waheed, Oliver Zweigle
Принадлежит: Faro Technologies Inc

A system for generating an automatically segmented and annotated two-dimensional (2D) map of an environment includes processors coupled to a scanner to convert a 2D map from the scanner into a 2D image. Further, a mapping system categorizes a first set of pixels from the image into one of room-inside, room-outside, and noise by applying a trained neural network to the image. The mapping system further categorizes a first subset of pixels from the first set of pixels based on a room type if the first subset of pixels is categorized as room-inside. The mapping system also determines the room type of a second subset of pixels from the first set of pixels based on the first subset of pixels by using a flooding algorithm. The mapping system further annotates a portion of the 2D map to identify the room type based on the pixels corresponding to the portion.

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Номер записи: 46
20-07-2023 дата публикации

Mobile system and method of scanning an environment

Номер: US20230228565A1
Автор: Ahmad RAMADNEH, Aleksej Frank, Igor Sapina, Joao Santos, Johannes Buback, Julian Becker, Martin Ossig, Oliver Zweigle
Принадлежит: Faro Technologies Inc

A system and method for measuring three-dimensional (3D) coordinate values of an environment is provided. The system includes a movable base unit a first scanner and a second scanner. One or more processors performing a method that includes causing the first scanner to determine first plurality of coordinate values in a first frame of reference based at least in part on a measurement by at least one sensor. The second scanner determines a second plurality of 3D coordinate values in a second frame of reference as the base unit is moved from a first position to a second position. The determining of the first coordinate values and the second plurality of 3D coordinate values being performed simultaneously. The second plurality of 3D coordinate values are registered in a common frame of reference based on the first plurality of coordinate values.

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Номер записи: 47
06-08-2024 дата публикации

Capturing environmental scans using automated transporter robot

Номер: US12053895B2
Автор: Ahmad RAMADNEH, Aleksej Frank, Mark BRENNER, Mufassar Waheed, Oliver Zweigle
Принадлежит: Faro Technologies Inc

A system includes a transporter robot with a motion controller that changes the transporter robot's poses during transportation. A scanning device is fixed to the transporter robot. One or more processors are coupled to the transporter robot and the scanning device to generate a map of the surrounding environment. At a timepoint T1, when the transporter robot is stationary at a first location, a first pose of the transporter robot is captured. During transporting the scanning device, at a timepoint T2, the scanning device captures additional scan-data of a portion of the surrounding environment. In response, the motion controller provides a second pose of the transporter robot at T2. A compensation vector and a rotation for the scan-data are determined based on a difference between the first pose and the second pose. A revised scan-data is computed, and the revised scan-data is registered to generate the map.

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Номер записи: 48
10-09-2024 дата публикации

Mobile system and method of scanning an environment

Номер: US12085409B2
Автор: Ahmad RAMADNEH, Aleksej Frank, Igor Sapina, Joao Santos, Johannes Buback, Julian Becker, Martin Ossig, Oliver Zweigle
Принадлежит: Faro Technologies Inc

A system and method for measuring three-dimensional (3D) coordinate values of an environment is provided. The system includes a movable base unit a first scanner and a second scanner. One or more processors performing a method that includes causing the first scanner to determine first plurality of coordinate values in a first frame of reference based at least in part on a measurement by at least one sensor. The second scanner determines a second plurality of 3D coordinate values in a second frame of reference as the base unit is moved from a first position to a second position. The determining of the first coordinate values and the second plurality of 3D coordinate values being performed simultaneously. The second plurality of 3D coordinate values are registered in a common frame of reference based on the first plurality of coordinate values.

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Номер записи: 49