Abstract: 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.

Abstract: A six-DOF probe includes a retroreflector, a collection of target lights, and a stylus having a probe tip. A laser tracker measures a distance, a first angle, and a second angle to the retroreflector and captures an image of the illuminated target lights. A processor determines the three-dimensional coordinates of the probe tip based at least in part on the measured distance, measured first angle, measured second angle and on a central portion of the captured image, the size of the central portion based at least in part on the measured distance.

Abstract: A system and method for providing feedback on a quality of a 3D scan is provided. The system includes a coordinate scanner configured to optically measure and determine a plurality of three-dimensional coordinates to a plurality of locations on at least one surface in the environment, the coordinate scanner being configured to move through the environment while acquiring the plurality of three-dimensional coordinates. A display having a graphical user interface. One or more processors are provided that are configured to determine a quality attribute of a process of measuring the plurality of three-dimensional coordinates based at least in part on the movement of the coordinate scanner in the environment and display a graphical quality indicator on the graphical user interface based at least in part on the quality attribute, the quality indicator is a graphical element having at least one movable element.

Abstract: 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.

Abstract: A system of generating a three-dimensional (3D) scan of an environment includes multiple 3D scanners including a first 3D scanner at respective first and second positions. The system further includes a controller coupled to the 3D scanners via a common communications network. The first scanner and second scanner transmit a subset of data to the controller while acquiring a set of 3D coordinates. The controller registers the subsets of data to each other while the sets of 3D coordinates is being acquired.

Abstract: Aspects of the present disclosure provide a system for measuring an object, the system including a plurality of frame segments. The frame segments are configured to mechanically couple together to form a frame. The plurality of frame segments includes a plurality of measurement device link segments and each of the plurality of measurement device link segments includes a measurement device which together form a plurality of measurement devices having a field of view within or adjacent to the frame. Each of the plurality of measurement devices is operable to measure three-dimensional (3D) coordinates for a plurality of points on the object. The system further includes a computing device to receive data from the plurality of measurement devices via a network established by the plurality of measurement device link segments.

Abstract: A laser projector steers a pulsed laser beam to form a pattern of stationary dots on an object, the pulsed laser beam having a periodicity determined based at least in part on a maximum allowable spacing of the dots and on a maximum angular velocity at which the beam can be steered, wherein a pulse width of the laser beam and a pulse peak power of the laser beam are based at least in part on the determined periodicity and on laser safety requirements.

Abstract: Provided are embodiments for a method for performing colorization of scans. The method includes analyzing a scanner, a scan of an environment to identify one or more patterns within the scan, and obtaining a subset of colorization data of the environment. The method also includes predicting colors for the one or more patterns in the scan based on the subset of colorization data, and assigning the predicted colors to the one or more patterns in the scan to generate a colorized scan. The method includes displaying the colorized scan, wherein the colorized scan combines the scan and the predicted colorization data by assigning the predicted colorization data to the one or more patterns in the scan. Also provided are embodiments for a system for performing the colorization of scans.

Abstract: A virtual reality (VR) system that includes a three-dimensional (3D) point cloud having a plurality of points, a VR viewer having a current position, a graphics processing unit (GPU), and a central processing unit (CPU). The CPU determines a field-of-view (FOV) based at least in part on the current position of the VR viewer, selects, using occlusion culling, a subset of the points based at least in part on the FOV, and provides them to the GPU. The GPU receives the subset of the plurality of points from the CPU and renders an image for display on the VR viewer based at least in part on the received subset of the plurality of points. The selecting a subset of the plurality of points is at a first frame per second (FPS) rate and the rendering is at a second FPS rate that is faster than the first FPS rate.

Abstract: Methods and systems for capturing image information of an environment using a laser scanner are described. The systems include a rotatable mirror arranged to direct light received onto an imaging camera of the laser scanner. The mirror is rotatable relative to the imaging camera and the camera is stationary relative to a rotational axis of the mirror. The methods include rotating the mirror relative to the camera and capturing, via the camera, an image containing image information of the received light. Each pixel of the image contains image information of an accumulation of the received light along a corresponding trajectory during a mirror rotation and each individual trajectory has a trajectory that crosses another of the individual trajectories within the image.

Abstract: A method for scanning and measuring using a 3D measurement device is provided. The method includes providing the 3D measurement device having a light emitter, a light receiver and a command and evaluation device. The 3D measurement device is further includes a first near-field communication (NFC) device having a first antenna. A second NFC device having a second antenna is positioned adjacent the 3D measurement device. An NFC link is established between the first NFC device and the 3D measurement device. An identifier is transmitted from the second NFC device to the 3D measurement device. It is determined that the second NFC device is authorized to communicate with the 3D measurement device. Commands are transferred to the 3D measurement device from the second NFC device based at least in part on the determination that the second NFC device is authorized to communicate with the 3D measurement device.

Abstract: 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.

Abstract: 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.

Abstract: A three-dimensional (3D) measuring instrument includes a registration camera and a surface measuring system having a projector and an autofocus camera. For the instrument in a first pose, the registration camera captures a first registration image of first registration points. The autofocus camera captures a first surface image of first light projected onto the object by the projector and determines first 3D coordinates of points on the object. For the instrument in a second pose, the registration camera captures a second registration image of second registration points. The autofocus camera adjusts the autofocus mechanism and captures a second surface image of second light projected by the projector. A compensation parameter is determined based at least in part on the first registration image, the second registration image, the first 3D coordinates, the second surface image, and the projected second light.

Abstract: 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.

Abstract: 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.

Abstract: Techniques for localizing a portable articulated arm coordinate measuring machine (AACMM) are described. An example localization method includes in response to an AACMM base being placed at a first position, capturing a first set of images of a positioning element in a predetermined area. The method further includes determining first 3D coordinates of the positioning element using the first set of images. 3D coordinates corresponding to a position of a first measurement probe in the predetermined area are computed using the first 3D coordinates. Further, the method includes, in response to the base being moved to a second position, determining second 3D coordinates of the positioning element from the second position using a second set of images. Further, the localization method includes determining a translation matrix to convert the second 3D coordinates to the first 3D coordinates.

Abstract: A system including a multi-dimensional scanner includes a body including a chassis extending from the body, a connector assembly coupled to the chassis, and a plurality of interchangeable attachments. Each of the plurality of interchangeable attachments is securable to the body via the connector assembly and each of the plurality of interchangeable attachments is associated with a type of operation of the system.

Abstract: A device and method for projecting a light pattern is provided. The device includes a processor system and a housing. A three-dimensional (3D) measurement device is operably coupled to the housing that measures a distance to a surface in an environment. A laser projector is operably coupled to the housing, the laser projector having a light source and a pair of movable mirrors, the light source positioned to emit light onto the pair of movable mirrors. Wherein the processor system is responsive to non-transitory executable computer instructions for: determining 3D coordinates of points on the surface with the 3D measurement device; selecting a pattern; causing the laser projector to emit a beam of light and moving the pair of mirrors to generate the pattern on the surface; and adjusting the pattern based at least in part on the 3D coordinates.

Abstract: A dimensional measuring device includes an overview camera and a triangulation scanner. A six-DOF tracking device tracks the dimensional measuring device as the triangulation scanner measures three-dimensional (3D) coordinates on an exterior of the object. Cardinal points identified by the overview camera are used to register in a common frame of reference 3D coordinates measured by the triangulation scanner on the interior and exterior of the object.