Abstract: A method for a six degree of freedom position and orientation determination of a known shape in a scenery is disclosed. The method includes taking a range image with a range imaging camera and a visual picture with a digital camera. The range imaging camera includes a sensor array with a first number of pixels. Determining a 3D cluster of points from range information collected from the sensor array to a point of the scenery. The digital camera comprises an image sensor having a second number of pixels, resulting in a 2D picture. A stored 3D digital representation of the known shape may be fitted in a virtual space to match the reproduction of the known object in the 2D picture and the 3D cluster of points and determining the six degree of freedom position and orientation of the known shape according to the virtual match.

Abstract: The invention relates to a graphical application system to apply a desired pattern by multiple tiles onto a target surface. The system comprises a graphical application device comprising a base structure with a trackable optical feature, at least one nozzle for expelling paint, a driving unit for positioning the nozzle and a local camera for a local referencing of the nozzle. A controller controls the driving unit and the expelling of the nozzle to achieve an application of the desired pattern on the target surface. The system also comprises an external referencing device located remote from the graphical application device, for a global referencing of the application device according to the trackable optical feature. The desired pattern is applied with a primary alignment of the application range by the global referencing and with a fine-alignment of the actual tile to a previously applied tile according to the local referencing.

Abstract: The invention concerns a handheld, dynamically movable surface spattering device (9), comprising at least one nozzle means (1) for an expelling of a spattering material onto a target surface (3) and a nozzle control mechanism (4) to control characteristics of the expelling of the nozzle means. Furthermore, it comprises a spattering material supply (5), a storage with desired spattering data (6), which is predefined and comprised in a digital image or CAD-model memorized on the storage, a spatial referencing unit (7), to reference the spattering device relative to the target surface and a computation means (8) to automatically control the expelling by the nozzle control mechanism according to information gained by the spatial referencing unit and according to the desired spattering data is evaluated and adjusted by changing the characteristics of expelling of the nozzle means in such a way that the target surface is spattered according to the desired spattering data.

Abstract: A method and system for determining the position of a hand-held power tool on a wall including measuring distances within a plane perpendicular to a tooling axis in at least two directions, comprising at least the direction to one side wall and the direction to the floor or the ceiling. At least one non-contact measurement sensor module measures distances in a multitude of angles in an angular range of at least 1° around the at least two directions. From the distance sequence measured by the at least one measurement sensor module a calculation and storing unit automatically calculates a function, wherein extrema represent shortest distances to walls, floor and/or ceiling adjacent to the wall. From said function the calculation and storing unit deduces the shortest distances, and output means provide information about the shortest distances so as to allow positioning relative to the shortest distances.

Abstract: Noncontact coordinate measurement. With a 3D image recording unit, a first three-dimensional image of a first area section of the object surface is electronically recorded in a first position and first orientation, the first three-dimensional image being composed of a multiplicity of first pixels, with which in each case a piece of depth information is coordinated. First 3D image coordinates in an image coordinate system are coordinated with the first pixels. The first position and first orientation of the 3D image recording unit in the object coordinate system are determined by a measuring apparatus coupled to the object coordinate system by means of an optical reference stereocamera measuring system. First 3D object coordinates in the object coordinate system are coordinated with the first pixels from the knowledge of the first 3D image coordinates and of the first position and first orientation of the 3D image recording unit.

Abstract: A graphical application system, with a surface spattering device, with at least one nozzle for expelling a spattering material onto a target surface, a nozzle control mechanism controls expelling of the nozzle. A spatial referencing unit references the spattering device in space and a computation means automatically controls the nozzle according to information from the spatial referencing unit and according to predefined desired spattering data as a digital image or a CAD-model of a desired pattern to be spattered onto the target surface. A communication means for establishing a communication link from the spatial referencing unit to the computation means to supply the position and orientation to the computation means. The spatial referencing unit is located remote from the spattering device and comprises at least two optical 2D cameras arranged with a stereobasis, for determining the position and orientation of images taken by the cameras.

Abstract: The invention relates to a method and a surveying system for noncontact coordinate measurement on the object surface of an object to be surveyed in an object coordinate system. With a 3D image recording unit, a first three-dimensional image of a first area section of the object surface is electronically recorded in a first position and first orientation, the first three-dimensional image being composed of a multiplicity of first pixels, with which in each case a piece of depth information is coordinated. The first position and first orientation of the 3D image recording unit in the object coordinate system are determined by a measuring apparatus coupled to the object coordinate system. First 3D object coordinates in the object coordinate system are coordinated with the first pixels from the knowledge of the first 3D image coordinates and of the first position and first orientation of the 3D image recording unit.

Abstract: The invention relates to a method and a surveying system for noncontact coordinate measurement on the object surface of an object to be surveyed in an object coordinate system. With a 3D image recording unit, a first three-dimensional image of a first area section of the object surface is electronically recorded in a first position and first orientation, the first three-dimensional image being composed of a multiplicity of first pixels, with which in each case a piece of depth information is coordinated. The first position and first orientation of the 3D image recording unit in the object coordinate system are determined by a measuring apparatus coupled to the object coordinate system. First 3D object coordinates in the object coordinate system are coordinated with the first pixels from the knowledge of the first 3D image coordinates and of the first position and first orientation of the 3D image recording unit.

Abstract: The invention relates to a method and a surveying system for noncontact coordinate measurement on the object surface (2) of an object (1) to be surveyed in an object coordinate system (O). With a 3D image recording unit (3), a first three-dimensional image (P1) of a first area section (S1) of the object surface (2) is electronically recorded in a first position (x1, y1, z1) and first orientation (?1, ?1, ?1), the first three-dimensional image (P1) being composed of a multiplicity of first pixels (i1), with which in each case a piece of depth information is coordinated. First 3D image coordinates (u1i, v1i, w1i) in an image coordinate system (B) of the 3D image recording unit (3) are coordinated with the first pixels (i1). The first position (x1, y1, z1) and first orientation (100 1, ?1, ?1) of the 3D image recording unit (3) in the object coordinate system (O) are determined by a measuring apparatus (4a, 4b) coupled to the object coordinate system (O).

Abstract: A correction calculation method for a satellite based positioning system with a network of receiving units as reference stations comprises a partitioning of the network into groups of reference stations, calculation of group-specific correction factors, amalgamation of the group-specific correction factors and subsequently, derivation of network-specific correction parameters. In this partitioning, the reference stations are represented by nodes in a connected, edge-weighted graph, in the generation of which an edge respectively connecting two nodes is only generated if it satisfies a distance-dependent connectivity condition, whereby the distance between the nodes connected by this edge is input into the weighting function of this edge. From the graph a minimum spanning tree is derived and subsequently partitioned for establishing the groups.

Abstract: A correction calculation method for a satellite based positioning system with a network of receiving units as reference stations comprises a partitioning of the network into groups of reference stations, calculation of group-specific correction factors, amalgamation of the group-specific correction factors and subsequently, derivation of network-specific correction parameters. In this partitioning, the reference stations are represented by nodes in a connected, edge-weighted graph, in the generation of which an edge respectively connecting two nodes is only generated if it satisfies a distance-dependent connectivity condition, whereby the distance between the nodes connected by this edge is input into the weighting function of this edge.

Abstract: The invention relates to a method and a surveying system for noncontact coordinate measurement on the object surface (2) of an object (1) to be surveyed in an object coordinate system (O). With a 3D image recording unit (3), a first three-dimensional image (P1) of a first area section (S1) of the object surface (2) is electronically recorded in a first position (x1, y1, z1) and first orientation (?1, ?1, ?1), the first three-dimensional image (P1) being composed of a multiplicity of first pixels (i1), with which in each case a piece of depth information is coordinated. First 3D image coordinates (u1i, v1i, w1i) in an image coordinate system (B) of the 3D image recording unit (3) are coordinated with the first pixels (i1). The first position (x1, y1, z1) and first orientation (100 1, ?1, ?1) of the 3D image recording unit (3) in the object coordinate system (O) are determined by a measuring apparatus (4a, 4b) coupled to the object coordinate system (O).