Multi-modal measuring device for schematic generation
An improved measuring device has been developed by combining a visual detector such as a camera, digital distance measuring device, and a positional sensor. The system uses positional measurements of the device along with distance measurements to generate a point cloud and uses the visual image along with distance measurements to identify and label objects. The point cloud and labeled objects are combined to generate a schematic of the environment being measured and extract relevant measurements.
1 . A measuring device comprising:
a visual sensor that generates visual data;
a distance sensor that generates distance data;
a positional sensor that generates positional data regarding the measuring device; and
a processing unit,
wherein the processing unit is programmed to:
combine the positional data and the distance data to generate a point cloud of an environment;
combine the visual data and the distance data to identify objects in the environment;
augment a portion of the distance data for apportionment of the environment; and
combine the point cloud and the identified objects to create an output schematic.
2 . The measuring device of claim 1 , wherein the visual sensor is a camera.
3 . The measuring device of claim 1 , wherein the distance sensor is configured to perform laser distance measurement.
4 . The measuring device of claim 1 , wherein the measuring device is further configured to wirelessly communicate with a control application adapted for installation on a mobile device.
5 . The measuring device of claim 1 , wherein the processing unit is programmed to use data segmentation to identify the objects in the environment.
6 . The measurement device of claim 1 , wherein the processing unit is further programmed to compare the visual data to the point cloud of the environment to determine whether to perform one or more further scans.
7 . The measurement device of claim 1 , wherein the processing unit is further programmed to map the visual data onto the point cloud of the environment.
8 . The measurement device of claim 1 ,
wherein a portion of the environment is located below a water line, and
wherein the augmentation compensates for a refraction of electromagnetic radiation through water.
9 . The measurement device of claim 1 , wherein, to augment the portion of the distance data for apportionment of the environment, the processing unit is programmed to define a plane of water indicated by the distance data.
10 . The measurement device of claim 1 , wherein, to augment the portion of the distance data for apportionment of the environment, the processing unit is programmed to apply a correction to one or more points of the point cloud to remove a distortion.
11 . A method comprising:
generating, by a visual sensor of a measurement device, visual data;
generating, by a distance sensor of the measurement device, distance data;
generating, by a positional sensor of the measurement device, positional data regarding the measuring device;
combining, by a processing unit of the measurement device, the positional data and the distance data to generate a point cloud of an environment;
combining, by the processing unit, the visual data and the distance data to identify objects in the environment;
augmenting, by the processing unit, a portion of the distance data for apportionment of the environment; and
combining, by the processing unit, the point cloud and identified objects to create an output schematic.
12 . The method of claim 11 , wherein the visual sensor is a camera.
13 . The method of claim 11 , wherein generating the distance data comprises performing laser distance measurement.
14 . The method of claim 11 , further comprising wirelessly communicating, by the measuring device, with a control application adapted for installation on a mobile device.
15 . The method of claim 11 , further comprising using, by the processing unit, data segmentation to identify the objects in the environment.
16 . The method of claim 11 , further comprising comparing, by the processing unit, the visual data to the point cloud of the environment to determine whether to perform one or more further scans.
17 . The method of claim 11 , further comprising mapping, by the processing unit, the visual data onto the point cloud of the environment.
18 . The method of claim 11 ,
wherein a portion of the environment is located below a water line, and
wherein the augmenting compensates for a refraction of electromagnetic radiation through water.
19 . The method of claim 11 , wherein augmenting the portion of the distance data for apportionment of the environment comprises defining a plane of water indicated by the distance data.
20 . A non-transitory computer readable storage medium storing instructions that, when executed by a processing unit of a measurement device, cause the processing unit to:
obtain visual data generated by a visual sensor of the measurement device;
obtain distance data generated by a distance sensor of the measurement device;
obtain positional data regarding the measuring device generated by a positional sensor of the measurement device;
combine the positional data and the distance data to generate a point cloud of an environment;
combine the visual data and the distance data to identify objects in the environment;
augment a portion of the distance data for apportionment of the environment; and
combine the point cloud and identified objects to create an output schematic.