Abstract: Automatic selection of region in 3D point cloud is provided. Neighbor points are determined for given seed point of seed points. Responsive to a color difference of a given neighbor point from given seed point being less than neighbor color distance threshold and responsive to an angle between a normal of given neighbor point and a normal of given seed point being less than neighbor normal angle threshold, given neighbor point is added to region in 3D point cloud. Responsive to curvature at given neighbor point being less than curvature threshold, responsive to color difference of given neighbor point from initial seed point being less than initial seed color distance threshold and responsive to an angle between a normal of given neighbor point and a normal of initial seed point being less than an initial seed normal angle, given neighbor point is added to seed points for processing.

Abstract: A scanner that can detect types of targets in a scan are includes a processor, housing and a 3D scanner disposed within the housing The processor is configured to identify locations of one more checkerboard targets disposed in the scan area by: identifying transition locations where adjacent segments on a single scan line transition from a first color to a second color; recording locations of the transition locations as first to second color transition locations; identifying and recording transition locations where adjacent segments on a single scan line transition from the second color to the first color as second to first color transition locations; forming a transition line through adjacent first to second color transition locations and adjacent second to first color transition locations; and identifying a location of a checkerboard target based on the transition line.

Abstract: A method for automatically determining quality of registration of landmarks includes training an artificial intelligence (AI) system to detect inaccurate registration of landmarks. Training the AI system uses training data that includes scans of an environment captured by a 3D measuring device from corresponding scan points. A first scan is registered with at least a second scan based on one or more landmarks captured in the first scan and the second scan. Further, a model is created to identify incorrect registration by analyzing the training data. The analysis detects a mismatch in a first instance of a landmark in the first scan and a second instance of said landmark in the second scan. The model is then used to evaluate registration of landmarks in live data, the live data including a set of scans, the result identifying accuracy level of the registration of landmarks.

Abstract: A method includes providing a measuring device having a projector, a camera with a photosensitive array, and at least one processor, projecting with the projector a line of light onto an object, capturing with the camera an image of the projected line of light on the object within a window subregion of the photosensitive array, and calculating with the at least one processor three-dimensional (3D) coordinates of points on the object based at least in part on the projected line of light and on the captured image.

Abstract: 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.

Abstract: 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.

Abstract: A 3D measuring instrument and method of operation is provided that includes a registration camera and a an autofocus camera. The method includes capturing with the registration camera a first registration image of a first plurality of points and a first image with the first camera with the instrument in a first pose. A plurality of three-dimensional (3D) coordinates of points are determined based on the first image. A second registration image of a second plurality of points is captured in a second pose and a focal length of the autofocus camera is adjusted. A second surface image is captured with the first camera having the adjusted focal length. A compensation parameter is determined based in part on the captured second surface image. The determined compensation parameter is stored.

Abstract: A 3D measuring system includes a first projector that projects a first line onto an object at a first wavelength, a second projector that projects a second line onto the object at a second wavelength, a first illuminator that emits a third light onto some markers, a second illuminator that emits a fourth light onto some markers, a first camera having a first lens and a first image sensor, a second camera having a second lens and a second image sensor, the first lens operable to pass the first wavelength, block the second wavelength, and pass the third light to a first image sensor, the second lens operable to pass the second wavelength, block the first wavelength, and pass the fourth light. The system further includes one or more processors operable to determine 3D coordinates based on images captured by the first image sensor and the second image sensor.

Abstract: A light projector and method of aligning the light projector is provided. A light projector steers an outgoing beam of light onto an object, passing light returned from the object through a focusing lens onto an optical detector. The light projector may generate a light pattern or template by rapidly moving the outgoing beam of light along a path on a surface. To place the light pattern/template in a desired location, the light projector may be aligned with an electronic model.

Abstract: A handheld three-dimensional (3D) measuring system operates in a target mode and a geometry mode. In the target mode, a target-mode projector projects a first line of light onto an object, and a first illuminator sends light to markers on or near the object. A first camera captures an image of the first line of light and the illuminated markers. In the geometry mode, a geometry-mode projector projects onto the object a first multiplicity of lines, which are captured by the first camera and a second camera. One or more processors determines 3D coordinates in the target mode and the geometry mode.

Abstract: Provided are embodiments for a laser projection device configured to perform trajectory optimization. The device includes a power source configured to supply power to a power amplifier; a laser projector configured to emit a laser beam towards a surface of an object; a trajectory control module configured to calculate one or more parameters for a projection trajectory of the laser beam; a beam steering unit configured to control a direction of the laser beam; and wherein the power amplifier is operably coupled to the beam steering unit, wherein the output of the power amplifier is based at least in part on the calculated one or more parameters. Also provided are embodiments for a method of operating a laser projection device configured to perform trajectory optimization.

Abstract: An example method for training a neural network includes generating a training data set of point clouds. The training data set includes pairs of closed surfaces point clouds and non-closed surfaces point clouds. The method further includes, for each of the closed surface point clouds and the non-closed surface point clouds, generating a two-dimensional (2D) image by rendering a three-dimensional scene. The 2D image for the non-closed surfaces point clouds includes a gap in a surface, and the 2D image for the closed surfaces point clouds are free of gaps. The method further includes training the neural network to generate a trained neural network. The method further includes filling, using the trained neural network, gaps between scan points of the 2D image, and de-noising, using the trained neural network, scan point cloud data to generate a closed surface image of the scan point cloud data.

Abstract: A system and method for analyzing a surface of an object is provided. The system includes a 3D measurement device operable to acquire a plurality of points on the surface of the object and determine 3D coordinates for each of the points. The system further includes processors operably coupled to the 3D measurement device. The processors are responsive to computer instructions when executed on the processors for performing a method comprising: generating a point cloud from the 3D coordinates of the plurality of points; extracting a first set of points from the plurality of points; defining a first reference geometry through the first set of points; measuring at least one first metric from each of the points in the first set of points to the first reference geometry; and identifying a nonconforming feature based at least in part on the at least one first metric.

Abstract: Motorized cartridges and coordinate measuring machines having motorized cartridges are provided. The motorized cartridges include a cartridge housing having a shaft passing therethrough, a measurement probe coupled to shaft and arranged to detect movement of the shaft, and an integrated motor operably coupled to the shaft and arranged to drive movement of the shaft.

Abstract: An apparatus and method is provided for verifying the position of an edge of component on an object. The apparatus includes an optical sensor configured to receive light reflected from the component and the object. A contrast element disposed on or adjacent to the edge. One or more processors operably coupled to the optical sensor for determining the position of the edge at an inspection point. A system is also provided for cutting plies of a layup assembly and applying a contrast element to make the cut edge visible to position verification systems.

Abstract: 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.

Abstract: A system for shape dependent model identification in a point cloud includes a scanner device that captures a 3D point cloud that contains a representation of an object. The system further includes a computer that receives a sensor data, a capture time of the sensor data being substantially the same time as that of the 3D point cloud, the sensor data indicative of a position of a movable part of the object at the time of capture. The computer further computes an adjusted shape of the object from a baseline shape of the object by using the sensor data. The system further includes an object recognition module that searches for and identifies the adjusted shape of the object in the 3D point cloud.

Abstract: A three-dimensional (3D) coordinate measurement device and method of operating combines tracker and scanner functionality. The method includes selecting an operating mode on the coordinate measurement device. A first light is emitted from the coordinate measurement device. At least two angles associated with the emitting of the first light are measured. A second light is received with an optical detector, wherein the second light is a reflection of the first light off of the retroreflector or the surface. A distance is determined based at least in part on the selected mode, the emitting of the first light, and the receiving of the second light. Three dimensional coordinates of at least one point in the environment are determined based at least in part on the measuring of the at least two angles and the determination of the distance.

Abstract: A method includes providing a measuring device having a projector, a camera with a photosensitive array, and a processor, projecting with the projector a line of light onto an object, capturing with the camera an image of the projected line of light on the object within a window subregion of the photosensitive array, and calculating with the processor three-dimensional (3D) coordinates of points on the object based at least in part on the projected line of light and on the captured image.

Abstract: According to some aspects of the invention, auxiliary axis measurement systems for determining three-dimensional coordinates of an object are provided as shown and described herein. According to some aspects of the invention, methods for operating auxiliary axis measurement systems for determining three-dimensional coordinates of an object are provided as shown and described herein.