Patent ID: 11928830
Assignee: HONEYWELL INTERNATIONAL INC.
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 19:
20. A non-transitory computer readable medium storing instructions that, when executed by a processor, perform a method comprising:
during movement of a housing through a environment, generating an image sequence using an image sensor, wherein the image sensor is mounted relative to the housing and directed in a first direction;
during movement of the housing through the environment, generating a set of distance values using a distance sensor, wherein the distance sensor is mounted relative to the housing and directed in a second direction, wherein the second direction is within a predetermined angular range of the first direction;
generating, based on the image sequence, a first 3D model of the environment;
generating, based on the first 3D model and the predetermined angular range, a plurality of revolved 3D models by revolving the first 3D model relative to the image sensor to a plurality of positions within the predetermined angular range;
matching the set of distance values to at least one of the revolved 3D models;
determining, based on the matched at least one of the revolved 3D models, an angular position of the second direction relative to the first direction; and
generating, based on the first 3D model, the set of distance values, and the angular position, a 3D reconstruction of the environment, the 3D reconstruction including information indicative of a scale of the environment.