Granted Patent B2

US 12,511,820 · App. 17/910,939 · Granted Dec 30, 2025

Inventors: Fahad Mansoor (Munich, DE); Robert Huitl (Munich, DE); Raphael Neblich (Munich, DE); Lisa Cali (Munich, DE); Tamino Hartmann (Munich, DE); Stefan Romberg (Munich, DE); Georg Schroth (Munich, DE)

Assignee: NavVis GmbH

G06T15/205G01S17/89G06T7/70G06T2207/10028G06T2207/30204G06T2210/56

Abstract

Claims (36)

1 . A computer-implemented method for precise selection of a space coordinate by means of a digital image, the method comprising:

providing a digital image of surface elements in a three-dimensional space, wherein the digital image is a panoramic image or a 2D image;

providing a point cloud, wherein space coordinates are allocated to points that form the point cloud and surface elements are allocated to the points in the three-dimensional space;

visualizing the surface elements in the three-dimensional space by a first display of the digital image;

tagging a pixel of the digital image;

determining approximate space coordinates for the tagged pixel, which correspond to the surface element visualized by the tagged pixel in the three-dimensional space;

superimposing on the first display a supplementary view, which displays, in a second display, the points of the point cloud which are located in a limited three-dimensional environment of the approximate space coordinates ascertained by the tagged pixel; and

selecting a point of the point cloud displayed in the supplementary view,

wherein pixels representing an edge are determined in the first display, and

wherein when a cursor of an input device is moved from a pixel which displays the edge to a pixel which does not belong to the edge, the second display is then subsequently also displayed in the supplementary view for the pixel which displays the edge if the cursor of the input device is already located on the pixel which does not belong to the edge.

2 . The method according to claim 1 , wherein the digital image of the surface elements of the three-dimensional space is visualised by a two-dimensional projection from a first recording pose in a first recording position with a first opening angle of a first virtual or real camera in the direction of the recorded three-dimensional space.

3 . The method according to claim 2 , wherein a second recording pose is allocated to the second display of the supplementary view in a second recording position, and a second opening angle is allocated to a second virtual camera, the opening angle determining the perspective of the display of the limited three-dimensional environment.

4 . The method according to claim 1 , wherein the display scale of the second display of the supplementary view is larger than the display scale of the first display of the digital image.

5 . The method according to claim 1 , wherein the limited three-dimensional environment of the space coordinates ascertained by the tagged pixel only comprises points whose space coordinates have a distance from the first and/or second recording position which is smaller than a threshold distance.

6 . The method according to claim 3 , wherein a second supplementary display of the surface elements or of the points of the point cloud in the three-dimensional space is generated and displayed,

wherein the second supplementary display shows the three-dimensional space from a different perspective than the first display of the digital image, and

in the second supplementary display, a first indicator for the first recording position and/or a second indicator for the recording direction and/or the opening angle of the first virtual or real camera and/or a third indicator for the approximate space coordinates of the tagged pixel is/are displayed.

7 . The method according to claim 1 , wherein space coordinates are allocated to a point of the point cloud, in which a surface element is located which has diverted a laser beam of a laser scanner during the capture of the three-dimensional space.

8 . The method according to claim 1 , wherein no points of the point cloud are allocated to a subset of the surface elements which are visualized in the first display of the digital image, so that the point cloud displays fewer surface elements than the digital image.

9 . A computer-implemented measuring method for determination of distance between two points in three-dimensional space, the method comprising:

selecting a first point in the point cloud displayed in the supplementary view by means of the method according to claim 1 ;

determining first space coordinates of the first point;

selecting a second point of the point cloud displayed in the supplementary view by means of the method according to claim 1 ;

determining second space coordinates of the second point; and

calculating the distance between the first point and the second point from the first and second space coordinates.

10 . A device for precise selection of a space coordinate by means of a digital image, the device comprising:

a memory, in which data about at least one digital image of surface elements, and about a point cloud, is saved in a three-dimensional space, wherein space coordinates are allocated to the points which form the point cloud and surface elements are allocated to the points in the three-dimensional space;

visualization equipment, linked to the memory through a datalink, and equipped to visualize the surface elements in the three-dimensional space by a first display of the digital image;

an input device for tagging of a pixel of the digital image by means of a pointer; and

a calculator unit, which is equipped to determine approximate space coordinates for the tagged pixel, which correspond to the surface element visualized by the marked pixel in three-dimensional space, wherein determining approximate space coordinates comprises projecting the tagged pixel onto a surface element in the three-dimensional space,

wherein the visualization equipment is further equipped to, in response to the selection of the pixel, automatically generate and superimpose a supplementary view on the first display which displays, in a second display, a subset of points of the point cloud located in a limited three-dimensional environment of the approximate space coordinates determined for the tagged pixel,

wherein the limited three-dimensional environment comprises points of the point cloud within a predefined radius around the approximate space coordinates,

wherein the subset of points is displayed at a larger scale than the first display,

wherein a point of the point cloud depicted in the supplementary view is selectable with the input device,

wherein when a cursor moves from a pixel displaying an edge to a pixel not belonging to that edge, the second display is subsequently displayed in the supplementary view for the pixel displaying the edge if the cursor is already located on the pixel not belonging to the edge, and

wherein the digital image is a panoramic image or a 2D image.

Assignments (2)

Priority Claims (1)

Continuity (1)

References Cited (27)