Patents Assigned to Leica Geosystems AG
  • Patent number: 11566896
    Abstract: A method for image-based point measurement includes moving a surveying system along a path through a surrounding and capturing a series of images of the surrounding. A subset of images are defined as frames and a subset of frames are defined as key-frames. Textures are identified in first and second frames and are tracked in successive frames to generate first and second frame feature lists. A structure from motion algorithm is used to calculate camera poses for the images based on the first and second frame feature lists. Corresponding image points in images of the series of images are identified using feature recognition in at least a plurality of images. Three-dimensional coordinates of the selected image point are determined using forward intersection with the poses of the subset of images in which corresponding image points are identified. The three-dimensional coordinates of the selected image point are presented to the user.
    Type: Grant
    Filed: August 22, 2019
    Date of Patent: January 31, 2023
    Assignee: LEICA GEOSYSTEMS AG
    Inventors: Bernhard Richter, Zoltán Török, Elmar Vincent Van Der Zwan, Bernhard Metzler
  • Patent number: 11568559
    Abstract: A method for surveying an environment by a movable surveying instrument configured to be carried by a human with a progressional capturing of 2D-images by at least one camera and applying a visual simultaneous location and mapping algorithm (VSLAM) or a visual inertial simultaneous location and mapping algorithm (VISLAM) with a progressional deriving of a sparse evolving point cloud of at least part of the environment, and a progressional deriving of a trajectory of movement. The method comprises a progressional matching of the sparse evolving point cloud with a known CAD-geometry, with a minimizing of a function configured to model a distance between the sparse point cloud and the known CAD-geometry and deriving a spatial localization and orientation of the surveying instrument. At least one surveying measurement value of the environment by a spatial measurement unit is combined with the sparse point cloud or the plan information.
    Type: Grant
    Filed: August 12, 2020
    Date of Patent: January 31, 2023
    Assignee: LEICA GEOSYSTEMS AG
    Inventors: Zoltán Török, Thomas Mörwald
  • Patent number: 11568520
    Abstract: A method for colourising a three-dimensional point cloud including surveying a point cloud with a surveying instrument. Each point of the point cloud may be characterised by coordinates within an instrument coordinate system having an instrument center. The method may include capturing a first image of the setting with a first camera. Each pixel value of the first image is assigned coordinates within a first camera coordinate system having a first projection center as origin and a first parallax shift relative to the instrument center. The method may include transforming the point cloud from the instrument coordinate system into the first camera coordinate system, resulting in a first transformed point cloud, detecting one or more uncovered points within the first transformed point cloud which are openly visible from the first projection center, and for each uncovered point, assigning a pixel value having corresponding coordinates in the first camera coordinate system.
    Type: Grant
    Filed: January 24, 2018
    Date of Patent: January 31, 2023
    Assignee: LEICA GEOSYSTEMS AG
    Inventors: Daniel Blaser, Richard Fetzel, Bianca Gordon, Marco Schröder, Bernd Walser
  • Patent number: 11543240
    Abstract: A six DOF measurement aid module for determining 3D coordinates of points to be measured of an object surface, comprising a laser tracker for determining the position and orientation of the six DOF measurement aid module. The six DOF measurement aid module has a body comprising an object coupling device with an object interface, configured to couple, via the object interface, alternatively both a handle to the body with a fixed pose and the body to a mobile platform with a fixed pose, a sensor attachment coupling device with a sensor interface-configured to couple alternatively both a sensor attachment effecting non-contact measurement and a sensor attachment effecting tactile measurement to the body with a fixed pose via the sensor interface, and visual markings, which are arranged in a defined spatial relationship in a manner forming a pattern in a marking region on the body.
    Type: Grant
    Filed: March 29, 2021
    Date of Patent: January 3, 2023
    Assignee: LEICA GEOSYSTEMS AG
    Inventors: Simon Fuchs, Daniel Moser
  • Patent number: 11544860
    Abstract: Three-dimensional (3D) point cloud generation using a stationary laser scanner and a mobile scanner. The method includes scanning a first part of a surrounding with the stationary laser scanner, obtaining a first 3D point cloud, scanning a second part of the surrounding with the mobile scanner, obtaining a second 3D point cloud, whereby there is an overlap region of the first part and the second part, and aligning the second 3D point cloud to the first 3D point cloud to form a combined 3D point cloud. The positional accuracy of points of the second 3D point cloud is increased by automatically referencing second scanner data of the overlap region, generated by the mobile scanner, to first scanner data of the overlap region, generated by the stationary laser scanner. Therewith, deformations of the second 3D point cloud and its alignment with the first 3D point cloud are corrected.
    Type: Grant
    Filed: August 21, 2020
    Date of Patent: January 3, 2023
    Assignee: LEICA GEOSYSTEMS AG
    Inventors: Thomas Mörwald, Zoltán Török, Bernhard Metzler
  • Publication number: 20220414915
    Abstract: A reality capture device configured to perform a measuring process for generating a digital representation of an environment comprising a body defining a first axis, and an imaging unit with one or more 2D cameras configured to provide 2D image data of the environment. The device comprises a ToF camera arrangement configured for capturing 3D point-cloud data of the environment and comprising at least two time-of-flight cameras, wherein each time-of-flight camera comprises a sensor array and one or more laser emitters, the sensor array of each of the time-of-flight cameras having an optical axis and being configured to receive reflections of light pulses emitted by the one or more laser emitters of the respective time-of-flight camera, the time-of-flight cameras being arranged around the first axis so that each sensor array has one or two other sensor arrays as a neighbouring sensor array.
    Type: Application
    Filed: May 27, 2022
    Publication date: December 29, 2022
    Applicant: LEICA GEOSYSTEMS AG
    Inventors: Rainer WOHLGENANNT, Lukas HEINZLE, Garance BRUNEAU, Ralph HARTI, Roland GRAF, Roman STEFFEN, Simon MARK
  • Patent number: 11537123
    Abstract: A system is configured for confirming a mobile cooperative target being automatically tracked and measured by a total station or theodolite in order to automatically control a machine operation of a construction site machine. The system includes at least one total station or theodolite with a UWBST anchor-module having an anchor-ID, and a cooperative target associated with a UWBST tag-module having a tag-identifier (tag-ID) and being used for automatically controlling a machine operation of the construction site machine. The system can include a machine control unit associated with the construction site machine configured for controlling machine operations based on tracking and continuously measuring cooperative targets carried out by the total station or theodolite, and an ultra-wide band (UWB) distance meter associated with the UWBST anchor-module configured for measuring a distance (UWB-distance) between the UWBST anchor-module and the UWBST tag-module.
    Type: Grant
    Filed: March 14, 2020
    Date of Patent: December 27, 2022
    Assignee: LEICA GEOSYSTEMS AG
    Inventors: Tommi Juhani Kauppinen, Damien Dusha
  • Publication number: 20220404146
    Abstract: A surveying instrument for executing a relocation functionality, which determines first coordinates of a stationary target point associated with the start signal, in response to a start signal, a first actuator and a second actuator are controlled such that the stationary target point remains within a detection area of a tracking unit of the surveying instrument, determines second coordinates of the stationary target point, receives an end signal, wherein the second coordinates of the stationary target point are associated with the end signal, and based at least in part on the first and second coordinates of the stationary target point, and determines a relative pose of the surveying instrument with respect to a first setup location and a second setup location, wherein the first setup location is associated with the first coordinates and the second setup location is associated with the second coordinate.
    Type: Application
    Filed: July 5, 2022
    Publication date: December 22, 2022
    Applicant: LEICA GEOSYSTEMS AG
    Inventors: Elvir MALKOC, Josef MÜLLER, Johannes HOTZ
  • Publication number: 20220390228
    Abstract: Measurement method where a code projection which is dependent on a three-dimensional position of a code carrier relative to a sensor arrangement is generated on a sensor arrangement, and at least part of the code projection is captured. An angular position of the code carrier with reference to the defined axis of rotation is ascertained and a current measurement position of the measurement component relative to a base is determined, wherein, a position value for at least one further degree of freedom of the code carrier relative to the sensor arrangement is ascertained on the basis of the code projection and is taken into account to determine the current measurement position, and a relative position of the connecting element with respect to the holder and/or the deformation thereof is determined from the position value in the form of a change in shape or size.
    Type: Application
    Filed: August 15, 2022
    Publication date: December 8, 2022
    Applicant: LEICA GEOSYSTEMS AG
    Inventors: Heinz LIPPUNER, Urs VOKINGER, Knut SIERCKS
  • Patent number: 11513197
    Abstract: A multiple-pulses-in-air (MPiA) laser scanning system, wherein the MPiA problem is addressed in that an MPiA assignment of return pulses to send pulses of a laser scanner is based on range tracking and range probing at intermittent points in time. Each range probing comprises a time-of-flight arrangement which is constructed to be free of the MPiA problem. The invention further relates to an MPiA laser scanning system, wherein an MPiA ambiguity within a time series of return pulses, is converted into 3D point cloud space, which provides additional information from the spatial neighborhood of the points in question to enable MPiA disambiguation.
    Type: Grant
    Filed: October 15, 2018
    Date of Patent: November 29, 2022
    Assignee: LEICA GEOSYSTEMS AG
    Inventors: Quan Yang, Zhigang Pan, James Chester Sanders, III
  • Publication number: 20220373685
    Abstract: A reality capture device for generating a digital three-dimensional representation of an environment enables an object within an infrastructure to be surveyed or detected. The reality capture device is compact and easy to use, allowing for fast and reliable capture. The reality capture device can be carried and moved by a mobile carrier, particularly a person, robot or vehicle, and can be moved during a measuring process for generating a digital representation of an environment. The mobile reality capture device includes a localization unit for providing a simultaneous localization and mapping functionality, a laser scanner, and a camera unit. The mobile reality capture device is configured to be carried by a user through the room. The room is surveyed during the movement of the mobile reality capture device. The data from the laser scanner and the camera unit are referenced to each other by means of the localization unit.
    Type: Application
    Filed: June 7, 2019
    Publication date: November 24, 2022
    Applicant: LEICA GEOSYSTEMS AG
    Inventors: Jürgen DOLD, Burkhard BÖCKEM, Roman STEFFEN, Lukas HEINZLE, Ralph Patrick HARTI, Hendrik DESCHOUT, Roland GRAF, Mattheus Henricus Maria MICHELS, Michael DIETSCHI, Adam BAIJRIC, Andrea BONFANTI, Kristian Walker MORIN, Simon MARK, Klaus BEREUTER, Markus RIBI, Michele PORTENTOSO, Matthias WIESER
  • Patent number: 11509881
    Abstract: A handheld device for the image-based measurement of a remote object, comprising a housing having a front side and a rear side, a first and second camera, which are arranged having a stereo base on the rear side, for recording images of the object, an analysis unit having an algorithm for the stereophotogrammetric analysis of the images of the cameras and a display unit, which is arranged on the front side, for displaying images of the object and results of the stereophotogrammetric analysis, wherein the housing has a longitudinal axis, the stereo base is aligned diagonally relative to the longitudinal axis, and the analysis unit is designed for the purpose of taking into consideration the relative alignment of the stereo base during the stereophotogrammetric analysis.
    Type: Grant
    Filed: November 19, 2018
    Date of Patent: November 22, 2022
    Assignee: LEICA GEOSYSTEMS AG
    Inventor: Elmar Vincent Van Der Zwan
  • Patent number: 11493599
    Abstract: A surveillance system for detecting an object within a monitored infrastructure and to a hybrid 3D surveying device, wherein a LiDAR device is configured that scanning is carried out with respect to two essentially orthogonal axes and wherein the LiDAR device comprises a cover mounted on the base, such that the base and the cover form an enclosure that encloses all moving parts of the LiDAR device, wherein the cover is configured to be opaque for visible light and translucent for the wavelength range of the LiDAR transmission radiation. The system further comprises a computing unit configured for processing the LiDAR measurement data to generate a 3D point cloud of the monitored infrastructure, and an object detector configured for classification of the object based on the 3D point cloud.
    Type: Grant
    Filed: December 5, 2019
    Date of Patent: November 8, 2022
    Assignee: LEICA GEOSYSTEMS AG
    Inventors: Burkhard Böckem, Jürgen Dold, Klaus Bereuter, Simon Mark, Matthias Wieser
  • Patent number: 11493341
    Abstract: An industrial or geodetic surveying device with a scan functionality including an alidade rotating about a standing axis and a telescope unit with a beam exit for a laser measuring beam. The telescope unit is mounted on the alidade and is movable in a tilting motion about an elevation axis substantially orthogonal to the standing axis. The scan functionality comprises a scan sequence with an angular velocity of the alidade around the standing axis, wherein during the scan sequence the alidade is in a continuous revolving motion with mainly constant angular velocity about the standing axis, and the angular velocity of the alidade is faster than half of the angular velocity of the tilting motion of the telescope unit about the elevation axis.
    Type: Grant
    Filed: June 6, 2020
    Date of Patent: November 8, 2022
    Assignee: LEICA GEOSYSTEMS AG
    Inventors: Josef Müller, Christoph Herbst, Lukasz Kucharczyk, Christian Niklaus, Markus Geser
  • Publication number: 20220341104
    Abstract: A system and computer-implemented method for automatically controlling a construction process of a road section, the section comprising a plurality of subsections, the construction process comprising processing a road surface material layer using a paver with a height-adjustable screed, the paver travelling along a predetermined path, the method comprising receiving construction design data comprising information about the path and about a nominal surface and a nominal layer thickness of the paved road surface material layer for a multitude of positions along the path, receiving a set of rules comprising different priorities for each of the plurality of subsections, continuously receiving position data indicating a current position of the screed, continuously receiving thickness data indicating a current layer thickness of the paved road surface material layer, calculating a height-adjustment of the screed, generating, based on the calculation, control data to adjust a height of the screed.
    Type: Application
    Filed: April 26, 2022
    Publication date: October 27, 2022
    Applicant: LEICA GEOSYSTEMS AG
    Inventors: Jürgen SEEMAN, Alexander KURZ
  • Patent number: 11454499
    Abstract: Measurement method where a code projection which is dependent on a three-dimensional position of a code carrier relative to a sensor arrangement is generated on a sensor arrangement, and at least part of the code projection is captured. An angular position of the code carrier with reference to the defined axis of rotation is ascertained and a current measurement position of the measurement component relative to a base is determined, wherein, a position value for at least one further degree of freedom of the code carrier relative to the sensor arrangement is ascertained on the basis of the code projection and is taken into account to determine the current measurement position, and a relative position of the connecting element with respect to the holder and/or the deformation thereof is determined from the position value in the form of a change in shape or size.
    Type: Grant
    Filed: March 21, 2011
    Date of Patent: September 27, 2022
    Assignee: LEICA GEOSYSTEMS AG
    Inventors: Heinz Lippuner, Urs Vokinger, Knut Siercks
  • Publication number: 20220283327
    Abstract: The invention relates to a measurement system, e.g. comprising a total station and an auxiliary measurement instrument in the form of a pole, and/or an auxiliary measurement instrument, e.g. a pole, and/or a method for determining positions in the field of geodesics or on construction sites, e.g. by means of a construction laser.
    Type: Application
    Filed: December 13, 2018
    Publication date: September 8, 2022
    Applicant: LEICA GEOSYSTEMS AG
    Inventors: Josef MUELLER, Oliver FAIX, Jochen SCHEJA, Stefan PETKOV, Josef LAIS, Tim MAYER, Bernhard METZLER
  • Publication number: 20220262067
    Abstract: The invention relates to a six-DoF measurement aid for determining 3D coordinates of a multiplicity of object points to be measured in the form of 3D points of a point cloud in cooperation with a laser tracker, having an environment sensor arrangement and a control module. The control module comprises a platform control assistance functionality, which is configured to instruct the environment sensor arrangement, during the automatically guided movement of the six-DoF measurement aid, in a first mode to generate environmental information for determining an environmental normal, and in a second mode to generate environmental information for detecting anomalies with respect to the environmental normal, and to provide the environmental information generated by the environment sensor arrangement for control assistance of the platform control.
    Type: Application
    Filed: February 14, 2022
    Publication date: August 18, 2022
    Applicant: LEICA GEOSYSTEMS AG
    Inventors: Tomasz KWIATKOWSKI, Daniel MOSER
  • Patent number: 11415695
    Abstract: A Distance Measuring (DM)-system comprising a DM-device comprising a measuring beam unit configured for determining a distance between an object and the DM-device by transmitting a measuring beam, and an Inertial Measurement Unit (IMU) configured for determining an absolute first rotational position of the DM-device with respect to a first axis being parallel to the measuring beam, and an absolute second rotational position of the DM-device with respect to a second axis parallel to the gravity field. The DM-system also includes a computer unit configured for receiving from the DM-device a plurality of measured distance values, an absolute first rotational position of the DM-device at the time of a respective distance measurement, and an absolute second rotational position of the DM-device at the time of a respective distance measurement, and generating a layout by consecutively linking the measured distances based on the plurality of measured distance values.
    Type: Grant
    Filed: February 14, 2019
    Date of Patent: August 16, 2022
    Assignee: LEICA GEOSYSTEMS AG
    Inventors: Johannes Maunz, Patrick Rennhard
  • Patent number: 11402478
    Abstract: A system configured for rough localization of moveable cooperative targets. The system includes at least one laser tracker, having a moveable upper part connected to a base part, an optical target rough location detector automatically detecting a rough location of a cooperative target, a target fine position detector automatically detecting a fine position of a cooperative target within a fine position field of view, motors for changing an orientation of the moveable upper part, a motor controller, and a computer, a first and a second radio frequency telegram (RFT) transceiver (RFTT) anchor-module, wherein each RFTT anchor-module's position is referenced to the laser tracker, a cooperative target associated with a RFTT tag-module and each of the RFTT tag- and anchor-modules an evaluation unit configured for determining a RFT-transmission specific parameter based on the transmission of RFTs between the RFTT anchor- and tag-modules and providing said RFT-transmission specific parameter to the computer.
    Type: Grant
    Filed: December 5, 2019
    Date of Patent: August 2, 2022
    Assignee: LEICA GEOSYSTEMS AG
    Inventors: Tomasz Kwiatkowski, Thomas Lüthi, Markus Steiner