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

Claim 7:
8. A method for performing a simultaneous location and mapping of a scanner device in a surrounding environment, the method comprising:
capturing the scan-data of a portion of a map of the surrounding environment, wherein the scan-data comprises a point cloud;
detecting a set of lines in the point cloud;
identifying a semantic feature based at least in part on the set of lines;
assigning a first scan position of the scanner device in the surrounding environment at the present time t1 as a landmark;
linking the landmark with the portion of the map;
determining 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:
determining a second scan position of the scanner device at time t2;
determining a displacement vector for the map based on a difference between the first scan position and the second scan position;
computing a revised second scan position based on the second scan position and the displacement vector; and
registering the scan-data using the revised scan position;

determining 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
performing the simultaneous location and mapping by using the constraint.