Patent ID: 11936843
Assignee: FARO TECHNOLOGIES, INC.
Field: Audio-visual technology (Electrical engineering)
Classification: CPC G  H | IPC G  H

Claim 0:
1. A system comprising:
a scanner configured to capture a 2D map of an environment;
a camera configured to capture a plurality of panoramic images of the environment from respective locations in the environment;
an inertial measurement unit (IMU) configured to determine a pose of the scanner, and a pose of the camera; and
one or more processors operably coupled to the scanner, the IMU, and the camera, the one or more processors being responsive to executable instructions for converting the 2D map into a 3D mesh, the converting comprising:
generating the 2D map of the environment using data captured by the scanner;
identifying a plurality of features from a subset of the panoramic images captured by the camera;
aligning the subset of the panoramic images with the 2D map using the features that are extracted;
determining 3D coordinates of the features using 2D coordinates from the 2D map and a third coordinate based on a pose of the camera; and
generating a 3D mesh using the 3D coordinates of the features.