Ortung eines Vermessungsinstruments

Details

Veröffentlichungs-Nr.

EP3779357

Aktenzeichen

EP19191324

Anmeldetag

12. August 2019

Veröffentlichung

23. Oktober 2024

Erteilung

23. Oktober 2024

Rechtsraum

EP

IPC

G01C15/00G06T7/579G06T7/73G01S5/16G01S17/89

Abstract

The invention relates to a method for surveying an environment by a movable surveying instrument configured to be carried by a human in its environment along a substantially random trajectory, with a progressional capturing of 2D-images by at least one camera at the surveying instrument 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. It comprises a progressional matching of the sparse evolving point cloud with a known CAD-geometry of at least part of the environment, with a minimizing of a functional, which is 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 of the surveying instrument can then be combined with the sparse point cloud and/or the plan information.

Anmelder

Firma

Leica Geosystems AG

Land

🇨🇭 Schweiz

Fachgebiete