US 11,808,856 B1
Robust laser scanning for generating a 3D model
Nathan L. Tofte, Downs, IL (US); Patrick H. Boyer, Bloomington, IL (US); and James M. Freeman, Normal, IL (US)
Assigned to STATE FARM MUTUAL AUTOMOBILE INSURANCE COMPANY, Bloomington, IL (US)
Filed by STATE FARM MUTUAL AUTOMOBILE INSURANCE COMPANY, Bloomington, IL (US)
Filed on Apr. 20, 2020, as Appl. No. 16/852,731.
Application 16/852,731 is a continuation of application No. 15/598,071, filed on May 17, 2017, granted, now 10,663,591, issued on May 26, 2020.
Int. Cl. G01S 17/89 (2020.01); G01S 7/481 (2006.01); G01S 7/48 (2006.01); G01S 7/497 (2006.01); G01S 17/88 (2006.01); G01S 17/66 (2006.01); G01S 7/00 (2006.01); G01S 17/42 (2006.01); G01S 17/10 (2020.01); B64U 101/00 (2023.01); B64U 101/30 (2023.01)
CPC G01S 17/89 (2013.01) [G01S 7/003 (2013.01); G01S 7/4808 (2013.01); G01S 7/4817 (2013.01); G01S 7/4972 (2013.01); G01S 17/10 (2013.01); G01S 17/42 (2013.01); G01S 17/66 (2013.01); G01S 17/88 (2013.01); B64U 2101/00 (2023.01); B64U 2101/30 (2023.01)] 16 Claims
OG exemplary drawing
 
1. A property inspection system for scanning a structure with one or more structure scanners, the property inspection system comprising:
a three-dimensional fiducial marker with a known size and shape having unique 3D surface features at a known location on the surface of the structure; and
a structure scanner mounted to a flying device, the structure scanner comprising:
(i) a laser tracking device configured to obtain a scan of the unique 3D surface features of the three-dimensional fiducial marker;
(ii) a laser scanning device configured to scan a portion of the surface of the structure to obtain a 3D representation of the portion of the surface; and
(iii) one or more processors configured to:
(a) analyze the scan of the three-dimensional fiducial marker to generate an estimate of an orientation and position of the structure scanner based on the scan of the unique 3D surface features of the three-dimensional fiducial marker;
(b) use the estimated orientation and position of the structure scanner to estimate a real-world position of the portion of the surface represented by the 3D representation; and
(c) map the 3D representation of the portion of the surface of the structure to a 3D model of the structure based, at least in part, on the estimated real-world position of the portion of the surface; and
(d) generate an estimate of a condition of the structure based on the 3D model of the structure.