Registration calculation between three-dimensional (3D) scans based on two-dimensional (2D) scan data from a 3D scanner

摘要

A method for measuring and registering three-dimensional (3D) by measuring 3D coordinates with a 3D scanner in a first registration position, measuring two-dimensional (2D) coordinates with the 3D scanner by projecting a beam of light in plane onto the object while the 3D scanner moves from the first registration position to a second registration position, measuring 3D coordinates with the 3D scanner at the second registration position, and determining a correspondence among targets in the first and second registration positions while the 3D scanner moves between the second and third registration positions.

主权项

1. A method for measuring and registering three-dimensional (3D) coordinates comprising:
fixedly locating a measuring device in a first registration position, the measuring device including a 3D scanner on a moveable platform; obtaining with the 3D scanner, while in the first registration position, 3D coordinates of a first collection of points on an object, the 3D scanner configured to determine the 3D coordinates of the first collection of points by projecting a beam of light onto the object and obtaining for each point in the first collection of points a distance and two angles in response, the distance based at least in part on a speed of light in air; obtaining by the 3D scanner a first plurality of 2D scan sets while the measuring device moves from the first registration position to a second registration position, each of the first plurality of 2D scan sets being a set of 2D coordinates of points on the object, each of the first plurality of 2D scan sets being collected by the 3D scanner at a different position relative to the first registration position; determining for the measuring device a first translation value corresponding to a first translation direction, a second translation value corresponding to a second translation direction, and a first rotation value corresponding to a first orientational axis, wherein the first translation value, the second translation value, and the first rotation value are determined based at least in part on a fitting of the first plurality of 2D scan sets according to a first mathematical criterion; obtaining with the 3D scanner, while in the second registration position, 3D coordinates of a second collection of points on the object; determining by the measuring device, while the measuring device moves from the second registration position to a third registration position, a correspondence among registration targets present in both the first collection of points and the second collection of points, the correspondence based at least in part on the first translation value, the second translation value, and the first rotation value; and storing the first translation value, the second translation value, and the first rotation value.