A system and method for measuring three-dimensional (3D) coordinate values of an environment is provided. The method including moving a 2D scanner through the environment. A 2D map of the environment is generated using the 2D scanner. A path is defined through the environment using the 2D scanner. 3D scan locations along the path are defined using the 2D scanner. The 2D scanner is operably coupled to a mobile base unit. The mobile base unit is moved along the path based at least in part on the 2D map and the defined path. 3D coordinate values are measured at the 3D scan locations with a 3D scanner, the 3D scanner being coupled to the mobile base unit.

The technology relates to developing a highly accurate understanding of a vehicle's sensor fields of view in relation to the vehicle itself. A training phase is employed to gather sensor data in various situations and scenarios, and a modeling phase takes such information and identifies self-returns and other signals that should either be excluded from analysis during real-time driving or accounted for to avoid false positives. The result is a sensor field of view model for a particular vehicle, which can be extended to other similar makes and models of that vehicle. This approach enables a vehicle to determine when sensor data is of the vehicle or something else. As a result, the detailed modeling allowing the on-board computing system to make driving decisions and take other actions based on accurate sensor information.

According to examples, systems, devices, and methods for detecting rapid eye movement (REM) are described. The device may include an array of ultrasound sensors oriented to emit transmit ultrasounds signals in an eyeward direction, wherein the ultrasound sensors are to receive a return signal of the transmit signal reflecting off of a target, and wherein the ultrasound sensors are to output a distance signal representative of a distance to a target, the distance signal generated based on the return signal, and a transceiver to receive the distance signals, wherein the transceiver is to transmit the distance signals from the array of ultrasound sensors to a remote device.

Perception sensors of a vehicle can be used for various operating functions of the vehicle. A computing device may receive sensor data from the perception sensors, and may calibrate the perception sensors using the sensor data, to enable effective operation of the vehicle. To calibrate the sensors, the computing device may project the sensor data into a voxel space, and determine a voxel score comprising an occupancy score and a residual value for each voxel. The computing device may then adjust an estimated position and/or orientation of the sensors, and associated sensor data, from at least one perception sensor to minimize the voxel score. The computing device may calibrate the sensor using the adjustments corresponding to the minimized voxel score. Additionally, the computing device may be configured to calculate an error in a position associated with the vehicle by calibrating data corresponding to a same point captured at different times.

Perception sensors of a vehicle can be used for various operating functions of the vehicle. A computing device may receive sensor data from the perception sensors, and may calibrate the perception sensors using the sensor data, to enable effective operation of the vehicle. To calibrate the sensors, the computing device may project the sensor data into a voxel space, and determine a voxel score comprising an occupancy score and a residual value for each voxel. The computing device may then adjust an estimated position and/or orientation of the sensors, and associated sensor data, from at least one perception sensor to minimize the voxel score. The computing device may calibrate the sensor using the adjustments corresponding to the minimized voxel score. Additionally, the computing device may be configured to calculate an error in a position associated with the vehicle by calibrating data corresponding to a same point captured at different times.

An optical safety sensor is inexpensively implemented. An optical safety sensor includes: a plurality of light projectors/receivers (a first light projector/receiver and a second light projector/receiver), which includes light projecting portions and light receiving portions; distance measurement portions, which measure distances using the time from light projecting to light receiving; and detection portions, which detect, based on measurement results, an abnormality occurring in any one of the plurality of light projectors/receivers; each of the light receiving portion provided in the plurality of light projectors/receivers receives reflected light caused by the light projected from the light projecting portions of all the plurality of light projectors/receivers.

An optical safety sensor is inexpensively implemented. An optical safety sensor includes: a plurality of light projectors/receivers (a first light projector/receiver and a second light projector/receiver), which includes light projecting portions and light receiving portions; distance measurement portions, which measure distances using the time from light projecting to light receiving; and detection portions, which detect, based on measurement results, an abnormality occurring in any one of the plurality of light projectors/receivers; each of the light receiving portion provided in the plurality of light projectors/receivers receives reflected light caused by the light projected from the light projecting portions of all the plurality of light projectors/receivers.

Three-dimensional (3D) point cloud generation using a stationary laser scanner and a mobile scanner. The method includes scanning a first part of a surrounding with the stationary laser scanner, obtaining a first 3D point cloud, scanning a second part of the surrounding with the mobile scanner, obtaining a second 3D point cloud, whereby there is an overlap region of the first part and the second part, and aligning the second 3D point cloud to the first 3D point cloud to form a combined 3D point cloud. The positional accuracy of points of the second 3D point cloud is increased by automatically referencing second scanner data of the overlap region, generated by the mobile scanner, to first scanner data of the overlap region, generated by the stationary laser scanner. Therewith, deformations of the second 3D point cloud and its alignment with the first 3D point cloud are corrected.

A method for optimizing a surroundings model by at least one control unit, measured data being received from a first sensor set and at least one second sensor set. The first sensor set includes a first scanning area, and the second sensor set includes a second scanning area, the first scanning area and the second scanning area partially overlapping in an overlap area. A surroundings model is created for each sensor set based on the received measured data of the particular sensor set. The at least two surroundings models are compared to one another based on the overlap area and being verified. The at least two surroundings models are combined into an optimized surroundings model. A system, a control unit, a computer program, and a machine-readable memory medium, are also described.

A system includes a transporter robot with a motion controller that changes the transporter robot's poses during transportation. A scanning device is fixed to the transporter robot. One or more processors are coupled to the transporter robot and the scanning device to generate a map of the surrounding environment. At a timepoint T1, when the transporter robot is stationary at a first location, a first pose of the transporter robot is captured. During transporting the scanning device, at a timepoint T2, the scanning device captures additional scan-data of a portion of the surrounding environment. In response, the motion controller provides a second pose of the transporter robot at T2. A compensation vector and a rotation for the scan-data are determined based on a difference between the first pose and the second pose. A revised scan-data is computed, and the revised scan-data is registered to generate the map.