Patent ID: 11927692
Assignee: nan
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 12:
13. A method for generating a three-dimensional (3D) map of an environment, the method comprising:
receiving, by a processor system, via a 3D scanner, which is fixedly located at a scan position, a 3D scan of the environment, wherein the 3D scan comprises a global position and is partitioned into a plurality of submaps, each of the plurality of submaps comprising a position anchor;
receiving, by the processor system, via a two-dimensional (2D) scanner accessory, a portion of a 2D map of the environment;
receiving, by the processor system, coordinates of the scan position in the 2D map in response to the 3D scanner initiating the acquisition of the 3D scan;
associating, by the processor system, the coordinates of the scan position with the portion of the 2D map;
linking, by the processor system, the coordinates of the scan position with the portion of the 2D map;
storing, by the processor system, submap data for each of the plurality of submaps into a data object associated with each of the plurality of submaps, wherein the submap data for each of the plurality of submaps comprises a data object position of the data object relative to the position anchor of the respective submap;
performing, by the processor system, a loop closure algorithm on each of the plurality of submaps; and
for each of the plurality of submaps for which the position anchor of the submap changed during performing the loop closure algorithm, determining, by the processor system, a new data object position for the data objects associated with each of the plurality of submaps for which the position anchor changed.