Abstract: A method may include obtaining three-dimensional coordinate points and a two-dimensional image representing an environment and objects in the environment. The method may include segmenting the image into image segments and obtaining a pixel selection in the image. The method may include generating an image segment frustum corresponding to a particular image segment shape that includes the pixel. The method may include intersecting the image segment frustum with the coordinate points to determine a subset of the three-dimensional coordinates used to fit a derived surface. The derived surface may represent a three-dimensional volume having a surface shape corresponding to the shape of the image segment frustum and may include a subset of three-dimensional coordinate points that intersects with the image segment frustum. The method may include generating a derived three-dimensional coordinate point that represents a surface point included in the environment within a volume of the derived surface.

Abstract: A method may include obtaining three-dimensional coordinate points and a two-dimensional image representing an environment and objects in the environment. The method may include segmenting the image into image segments and obtaining a pixel selection in the image. The method may include generating an image segment frustum corresponding to a particular image segment shape that includes the pixel. The method may include intersecting the image segment frustum with the coordinate points to determine a subset of the three-dimensional coordinates used to fit a derived surface. The derived surface may represent a three-dimensional volume having a surface shape corresponding to the shape of the image segment frustum and may include a subset of three-dimensional coordinate points that intersects with the image segment frustum. The method may include generating a derived three-dimensional coordinate point that represents a surface point included in the environment within a volume of the derived surface.

Abstract: A method may include identifying features in images of a setting captured by cameras associated with a laser scanner at a first location. The features may correspond to elements in the setting. The method may include correlating the features with scan point data associated with the elements. The scan point data may be derived from a scan of the setting by a laser of the laser scanner at the first location. The method may include tracking the features within images captured by the cameras. The images may be captured during movement of the laser scanner away from the first location. The method may include estimating a position and/or an orientation of the laser scanner at a second location based on the tracking of the features and based on the correlating of the features with the scan point data.

Abstract: A method may include identifying features in images of a setting captured by cameras associated with a laser scanner at a first location. The features may correspond to elements in the setting. The method may include correlating the features with scan point data associated with the elements. The scan point data may be derived from a scan of the setting by a laser of the laser scanner at the first location. The method may include tracking the features within images captured by the cameras. The images may be captured during movement of the laser scanner away from the first location. The method may include estimating a position and/or an orientation of the laser scanner at a second location based on the tracking of the features and based on the correlating of the features with the scan point data.

Abstract: A method may include identifying features in images of a setting captured by cameras associated with a laser scanner at a first location. The features may correspond to elements in the setting. The method may include correlating the features with scan point data associated with the elements. The scan point data may be derived from a scan of the setting by a laser of the laser scanner at the first location. The method may include tracking the features within images captured by the cameras. The images may be captured during movement of the laser scanner away from the first location. The method may include estimating a position and/or an orientation of the laser scanner at a second location based on the tracking of the features and based on the correlating of the features with the scan point data.

Abstract: A method of determining a registration between Scanworlds may include determining a first viewpoint of a setting based on first point data of a first Scanworld. The first Scanworld may include information about the setting as taken by a first laser scanner at a first location. The method may further include determining a second viewpoint of the setting based on second point data of a second Scanworld. The second Scanworld may include information about the setting as taken by a second laser scanner at a second location. The method may further include generating a first rectified image based on the first viewpoint and generating a second rectified image based on the second viewpoint. Additionally, the method may include determining a registration between the first Scanworld and the second Scanworld based on the first viewpoint and the second viewpoint.

Abstract: A method may include identifying features in images of a setting captured by cameras associated with a laser scanner at a first location. The features may correspond to elements in the setting. The method may include correlating the features with scan point data associated with the elements. The scan point data may be derived from a scan of the setting by a laser of the laser scanner at the first location. The method may include tracking the features within images captured by the cameras. The images may be captured during movement of the laser scanner away from the first location. The method may include estimating a position and/or an orientation of the laser scanner at a second location based on the tracking of the features and based on the correlating of the features with the scan point data.

Abstract: A device may include a laser configured to rotate about an azimuth axis of the device and an elevation axis of the device. The device may also include a plurality of cameras configured to rotate about the azimuth axis and fixed with respect to the elevation axis. The cameras may be configured to have a collective field-of-view that includes a collective elevation field-of-view and a collective azimuth field-of-view. The device may also include a control system configured to direct the laser to rotate about the azimuth axis and the elevation axis such that the laser is configured to scan a setting. The control system may also be configured to direct the cameras to each begin capturing an image of the setting at substantially the same time.

Abstract: A method may include projecting, onto a first projection plane of a first projection volume, first points from a point cloud of a setting that are within the first projection volume. Further, the method may include matching a plurality of the projected first points with a cross-section template that corresponds to a line parametric object (LPO) of the setting to determine a plurality of first element points of a first primary projected element. Additionally, the method may include projecting, onto a second projection plane of a second projection volume, second points from the point cloud that are within the second projection volume and matching a plurality of the projected second points with the cross-section template to determine a plurality of second element points of a second primary projected element. Moreover, the method may include generating a parameter function based on the first element points and the second element points.

Abstract: In one embodiment, a circuit comprises a sense circuit configured to sense an increase in an output voltage of a switching regulator under a light load condition. A pulse generating circuit generates a control signal to switch on and off a voltage input to the switching regulator. The pulse generating circuit reduces in a binary manner a switching frequency of the control signal under the light load condition as the sensed output voltage increases. As the output voltage rises, a clock signal is divided by two to remove every second pulse and applied to the pulse generating circuit. Further increases in the output voltage cause divisions of the clock frequency by four to remove 3 of 4 pulses so that only every fourth pulse remains. With output voltage increases, the frequency is divided by eight to remove 7 of 8 pulses so that every eighth pulse remains, and so forth.

Abstract: A method may include projecting, onto a first projection plane of a first projection volume, first points from a point cloud of a setting that are within the first projection volume. Further, the method may include matching a plurality of the projected first points with a cross-section template that corresponds to a line parametric object (LPO) of the setting to determine a plurality of first element points of a first primary projected element. Additionally, the method may include projecting, onto a second projection plane of a second projection volume, second points from the point cloud that are within the second projection volume and matching a plurality of the projected second points with the cross-section template to determine a plurality of second element points of a second primary projected element. Moreover, the method may include generating a parameter function based on the first element points and the second element points.

Abstract: A device may include a laser configured to rotate about an azimuth axis of the device and an elevation axis of the device. The device may also include a plurality of cameras configured to rotate about the azimuth axis and fixed with respect to the elevation axis. The cameras may be configured to have a collective field-of-view that includes a collective elevation field-of-view and a collective azimuth field-of-view. The device may also include a control system configured to direct the laser to rotate about the azimuth axis and the elevation axis such that the laser is configured to scan a setting. The control system may also be configured to direct the cameras to each begin capturing an image of the setting at substantially the same time.

Abstract: In one embodiment, a circuit comprises a sense circuit configured to sense an increase in an output voltage of a switching regulator under a light load condition. A pulse generating circuit generates a control signal to switch on and off a voltage input to the switching regulator. The pulse generating circuit reduces in a binary manner a switching frequency of the control signal under the light load condition as the sensed output voltage increases. As the output voltage rises, a clock signal is divided by two to remove every second pulse and applied to the pulse generating circuit. Further increases in the output voltage cause divisions of the clock frequency by four to remove 3 of 4 pulses so that only every fourth pulse remains. With output voltage increases, the frequency is divided by eight to remove 7 of 8 pulses so that every eighth pulse remains, and so forth.

Abstract: A method of determining a registration between Scanworlds may include determining a first viewpoint of a setting based on first point data of a first Scanworld. The first Scanworld may include information about the setting as taken by a first laser scanner at a first location. The method may further include determining a second viewpoint of the setting based on second point data of a second Scanworld. The second Scanworld may include information about the setting as taken by a second laser scanner at a second location. The method may further include generating a first rectified image based on the first viewpoint and generating a second rectified image based on the second viewpoint. Additionally, the method may include determining a registration between the first Scanworld and the second Scanworld based on the first viewpoint and the second viewpoint.

Abstract: The performance of a laser scanner is optimized in the field by automatically determining appropriate laser parameters for the scan location. A laser control system uses information such as the environmental temperature to select an appropriate range of start points for various laser parameters, such as pump temperature and laser currents. Test pulses over that range can be used to determine optimal operating parameters.

Abstract: An apparatus for providing an oscillating signal to a load comprises: a phase locked loop, PLL, comprising a feedback loop; a power control means for manipulating oscillating signal power; an isolator for isolating the feedback loop from the load; and a mode selector coupled to the power control means and the isolator, for controlling the power control means and the isolator so that in a steady state power mode, oscillation power is supplied to the load and in a reduced power mode, power is isolated by the isolator from the load to the feedback loop so that phase lock is maintained when the oscillation power is reduced.

Abstract: The performance of a laser scanner is optimized in the field by automatically determining appropriate laser parameters for the scan location. A laser control system uses information such as the environmental temperature to select an appropriate range of start points for various laser parameters, such as pump temperature and laser currents. Test pulses over that range can be used to determine optimal operating parameters. In order to also meet safety regulations, the laser control system can use information such as range and pulse timing information to fire regularly spaced pulses that do not exceed acceptable exposure limits. Alternatively, the laser can be operated at a regular speed of about 24 Hz, or can be operated in burst mode where a burst of pulses creates what appears to be a brighter scan spot, but the time delay between bursts allows time for a blink reflex.