Patent ID: 11885911
Assignee: OREGON STATE UNIVERSITY
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 8:
9. A non-transitory machine-readable storage media having instructions stored thereon, that when executed, cause one or more processors to perform a method to reconstruct a trajectory of a scanner of a mobile Light Detection and Ranging system, the method comprising:
communicating with the mobile Light Detection and Ranging system;
downloading, based on the communicating, data of a file format for interchange and archiving of point cloud data to extract scanner data, wherein the point cloud data is associated with the mobile Light Detection and Ranging system;
extracting the scanner data associated with the mobile Light Detection and Ranging system, wherein the scanner data includes angular resolution between pulses from the mobile Light Detection and Ranging system;
estimating spin rate by a first application of the angular resolution between the pulses;
estimating a scan plane by a second application of the estimated spin rate to obtain orientation of the scanner of the mobile Light Detection and Ranging system;
estimating a scan origin using the estimated scan plane; and
performing global smoothing of the estimated scan origin to reconstruct the trajectory of the scanner.