Patent ID: 11867818
Assignee: FARO TECHNOLOGIES, INC.
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 0:
1. A system comprising:
a scanner device configured to capture scan-data of surrounding environment; and
one or more processors operably coupled to the scanner, wherein the one or more processors are operable to perform simultaneous locating and mapping of the scanner device in the surrounding environment, which comprises:
capture the scan-data of a portion of a map of the surrounding environment, wherein the scan-data comprises a point cloud;
detect a set of lines in the point cloud;
identify a semantic feature based at least in part on the set of lines;
assign a first scan position of the scanner device in the surrounding environment at the present time t1 as a landmark;
link the landmark with the portion of the map;
determine that the scanner device has moved, at time t2, to the scan position that was marked as the landmark based on identifying said semantic feature in another scan-data from the scanner device, and in response:
determine a second scan position of the scanner device at time t2;
determine a displacement vector for the map based on a difference between the first scan position and the second scan position;
compute a revised second scan position based on the second scan position and the displacement vector; and
register the scan-data using the revised scan position;

determine a constraint by computing a relationship between a first measurement and a second measurement of the semantic feature, the first measurement captured from the first scan position, and the second measurement captured from a third scan position; and
perform the simultaneous locating and mapping by using the constraint.