Computer aided inspection system and methods

1. A computer aided inspection system for inspection, error analysis and comparison of structures comprising:

a simultaneous localization and mapping (SLAM) system configured to determine real-world global localization information of a mobile user in relation to a structure being inspected as the user moves through the structure using information obtained from a first sensor package including a camera and at least one of an Inertial Measurement Unit (IMU), a barometer, an altimeter, or a global positioning system (GPS) device, wherein the global localization information localizes the user to within 5 centimeter (cm) to 15 cm across a worksite where the structure is located;

a model alignment system configured to:

use the determined global localization information to index into a corresponding location in a three-dimensional (3D) computer model of the structure being inspected and extract a local area of the 3D computer model; and

align observations and/or information obtained from the first sensor package to the local area of the 3D computer model of the structure extracted;

a second sensor package including a handheld device having a display and one or more cameras configured to obtain fine level local measurements at a millimeter (mm) level of precision and information about the structure; and

a model recognition system configured to compare the fine level measurements and information obtained about the structure from the second sensor package to the 3D computer model of the structure to determine discrepancies between the measurements and information obtained about the structure and the 3D computer model of the structure, wherein the discrepancies include differences in at least one of a number of structural support elements measured, diameters and/or thickness of one or more support elements, pitch between two or more support elements, tensile markings on one or more support elements, or angles of one or more support elements.

2. The computer aided inspection system of claim 1 , wherein the model recognition system is further configured to generate a compliance report including discrepancies determined between the measurements and information obtained about the structure from the second sensor package and the 3D computer model of the structure.

3. The computer aided inspection system of claim 2 , wherein discrepancies that exceed predefined error threshold are included in the compliance report.

4. The computer aided inspection system of claim 1 , wherein the second sensor package includes one or more high-resolution sensors with narrow field of view configured to obtain mm level measurements.

5. The computer aided inspection system of claim 1 , wherein the first sensor package includes a helmet worn augmented reality (AR) display, wherein the 3D computer model is overlaid on the AR display, and wherein the system is configured to mark and store a location in the model identified by the user, and associate a virtual note with the marked location.

6. The computer aided inspection system of claim 5 , wherein the second sensor package includes a hand held device having a display, and wherein the hand held device includes a selectable object that is configured to initiate inspection and measurement of a local area of the structure responsive to selection of the object.

7. The computer aided inspection system of claim 5 , wherein the first sensor package is configured to communicatively handshake with the hand held device to align a pose captured by the hand held device with the pose captured by the first sensor package.

8. The computer aided inspection system of claim 7 , wherein the pose captured by the first sensor package and/or the hand held device is a six ( 6 ) degrees of freedom (6DOF) pose, and wherein handshaking is achieved by sending a number of salient features from the first sensor package to the hand held device.

9. The computer aided inspection system of claim 1 , wherein the simultaneous localization and mapping system uses real world tags having a known location to localize the user.

10. The computer aided inspection system of claim 1 , wherein the simultaneous localization and mapping system is configured to determine localization information about the user in a GPS-denied or GPS-restricted environment.

11. The computer aided inspection system of claim 1 , wherein the model alignment system is further configured to align a point cloud model of the structure with the 3D computer model, wherein point cloud model of the structure is created from the measurements and information obtained from at least one of the first or second sensor packages.

12. A computer aided inspection method for inspection, error analysis and comparison of structures comprising:

determining real-world global localization information of a mobile user in relation to a structure being inspected as the user moves through the structure using information obtained from a first sensor package including a camera and at least one of an Inertial Measurement Unit (IMU), a barometer, an barometer, or a global positioning system (GPS) device, wherein the global localization information localizes the user to within 5 centimeter (cm) to 15 cm across a worksite where the structure is located;

using the determined global localization information to index into a corresponding location in a three-dimensional (3D) computer model of the structure being inspected and extract a local area of the 3D computer model; and

aligning observations and/or information obtained from the first sensor package to the local area of the 3D computer model of the structure extracted;

obtaining fine level local measurements at a millimeter (mm) level of precision and information about the structure from a second sensor package including a handheld device having a display and one or more cameras; and

comparing the fine level measurements and information obtained about the structure from the second sensor package to the 3D computer model of the structure to determine discrepancies between the measurements and information obtained about the structure and the 3D computer model of the structure, wherein the discrepancies include differences in at least one of a number of structural support elements measured, diameters and/or thickness of one or more support elements, pitch between two or more support elements, tensile markings on one or more support elements, or angles of one or more support elements.

13. The method of claim 12 , further comprising:

generating a 3D point cloud representation of the structure using mm level measurements and information about the structure obtained from high-resolution sensors of the second sensor package;

detecting objects of interest in the 3D point cloud representation of the structure, and obtaining measurements and information of said objects of interest using the high-resolution sensors;

aligning the 3D point cloud representation of the structure to the 3D computer model received; and

detecting discrepancies between the objects of interest and the 3D computer model received.

14. The method of claim 13 , further comprising:

generating a compliance report including the discrepancies detected between the objects of interest and the 3D computer model received.

15. The method of claim 12 , further comprising:

marking and storing a location identified by a user within the 3D computer model and associate a virtual note with the marked location; and

overlaying the virtual note on the 3D computer model such that it is visually displayed for any user to see.