公开(公告)号：US20210134053A1

公开(公告)日：2021-05-06

申请号：US16674182

申请日：2019-11-05

Applicant: THE BOEING COMPANY

Inventor： Luke C. Ingram ,  Anthony W. Baker

IPC: G06T17/00 ,  G06K9/46 ,  G06T7/521

Abstract: An apparatus includes a memory configured to store multiple sets of image data. Each of the sets corresponds to a respective portion of a surface of an object and a respective portion of a structured light pattern projected onto the surface. The apparatus includes a processor configured to perform structured light reconstruction of the sets, including matching a first group of image pixels that correspond to a projected pixel of the structured light pattern in a first set of image data with a second group of image pixels that correspond to the projected pixel in a second set of image data. The processor is configured to perform stereo reconstruction of the sets, including matching one or more features detected within the first group of image pixels with one or more features detected within the second group of image pixels, to generate three-dimensional point data of the surface.

公开(公告)号：US10977821B2

公开(公告)日：2021-04-13

申请号：US16439600

申请日：2019-06-12

Applicant: The Boeing Company

Inventor： Michael B. Schwiesow ,  Anthony W. Baker

IPC: G06T7/73 ,  G01S17/89 ,  G06T7/80

Abstract: In one or more embodiments, a system for calibration between a camera and a ranging sensor comprises a ranging sensor to obtain ranging measurements for a target located at N number of locations with an emitter at M number of rotation positions. The system further comprises a camera to image the target to generate imaging measurements corresponding to the ranging measurements. Further, the system comprises a processor(s) to determine replacement ranging measurements that all lie in the same plane; to sample the replacement ranging measurements to produce sampled replacement ranging measurements; to determine sampled replacement imaging measurements corresponding to the sampled replacement ranging measurements; and to calculate calibration parameters by using some of the sampled replacement ranging measurements and the sampled replacement imaging measurements corresponding to the sampled replacement ranging measurements that are used, where the calibration parameters estimate the relationship of the camera to the ranging sensor.

公开(公告)号：US10532561B2

公开(公告)日：2020-01-14

申请号：US16146592

申请日：2018-09-28

Applicant: The Boeing Company

Inventor： Luke C. Ingram ,  Anthony W. Baker ,  Zachary R. Smith

IPC: B41J2/045 ,  B41J3/407 ,  B41M5/00

Abstract: A method of collecting a metrology data set of a contoured surface with a metrology system and executing an automatic control plan for printing on a contoured surface is disclosed. The method includes attaching a work piece to a work piece frame and scanning a contoured surface of the work piece to obtain a metrology data set, a three-dimensional point cloud model is generated based on the metrology data set. Additionally, the method includes defining a spatial reference model of the work piece frame, and defining a print path for a print head assembly of a surface treatment assembly. Furthermore, the method includes discretizing the contoured surface into a plurality of regions and the print path is further defined into at least one independent regional print path for each region of the plurality of regions. Moreover, a computer software simulation verifies a control plan for printing on the contoured surface.

公开(公告)号：US20190392595A1

公开(公告)日：2019-12-26

申请号：US16016307

申请日：2018-06-22

Applicant: THE BOEING COMPANY

Inventor： Ryan M. Uhlenbrock ,  Deepak Khosla ,  Anthony W. Baker

IPC: G06T7/33 ,  G06T7/73 ,  G06T1/00

Abstract: A method includes generating, based on first surface data that includes three-dimensional (3D) point positions corresponding to a first portion of a surface of an object, first hole data that indicates first positions of holes in the first portion of the surface. The method includes generating, based on second surface data corresponding to a second portion of the surface of the object, second hole data that indicates second positions of the holes in the second portion of the surface. The method also includes matching the first positions to the second positions to perform an alignment with respect to the first surface data and the second surface data.

公开(公告)号：US10198860B1

公开(公告)日：2019-02-05

申请号：US15811467

申请日：2017-11-13

Applicant: The Boeing Company

Inventor： Zachary R. Smith ,  Anthony W. Baker

IPC: G06T15/04 ,  G06T17/20

Abstract: An apparatus and related methods for applying two-dimensional (2D) texture maps onto three-dimensional (3D) objects are described. A computing device can receive differing first and second meshes representing respective first and second 3D objects and a 2D texture associated with the first 3D object. The computing device can determine correspondence points between the first and second meshes and can align the first and second meshes using an alignment transformation based on the correspondence points. The computing device can determine texture portions of the 2D texture associated with first corresponding portions of the first mesh. The computing device can assign the texture portions to second corresponding portions of the aligned second mesh. For each texture portion, the computing device can: project the texture portion onto a 2D plane related to a particular second corresponding portion and fit the projected texture portion to the particular second corresponding portion.

公开(公告)号：US20170147901A1

公开(公告)日：2017-05-25

申请号：US14947619

申请日：2015-11-20

Applicant: The Boeing Company

Inventor： Robert J. Klein ,  Ted L. Johnson ,  Anthony W. Baker

IPC: G06K9/62 ,  G06T7/00 ,  G06F17/30 ,  G06K9/00

CPC classification number: G06K9/6202 ,  G06F16/50 ,  G06K9/0063

Abstract: A method includes receiving first and second images, each having a resolution that is less than or equal to a predetermined amount. The second image is captured at a different time than the first image, by a different sensor than the first image, or both. A common area is identified in both the first and second images. A probability of change in the common area between the first image and the second image is greater than a predetermined threshold. Third and fourth images are received, each having a resolution that is greater than or equal to the predetermined amount. The third and fourth images include the common area. The fourth image is captured at a different time than the third image, by a different sensor than the third image, or both. The fourth image has a total area that is less than a total area of the third image.

公开(公告)号：US20170146462A1

公开(公告)日：2017-05-25

申请号：US14948459

申请日：2015-11-23

Applicant: The Boeing Company

Inventor： Anthony W. Baker ,  Christopher Bellavia

IPC: G01N21/95 ,  G01B11/24 ,  G01B11/14 ,  G06T7/00 ,  G06T7/60

CPC classification number: G01B11/24 ,  G01B11/14 ,  G01N21/8851 ,  G01N21/9515 ,  G01N2021/8883 ,  G01N2201/10 ,  G01N2201/12 ,  G06T7/001 ,  G06T2207/10028 ,  G06T2207/20056

Abstract: A method of analyzing a curved surface is provided. The method includes obtaining a first data point set including data points representative of a distance between points along the curved surface and a reference axis, determining outlier data points in the first data point set, extracting the outlier data points from the first data point set, thereby defining a second data point set. The method also includes determining a fitted curve for the second data point set, wherein the fitted curve defines an approximate true curve of the curved surface.