Patent ID: 11927692
Assignee: nan
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 0:
1. A three-dimensional (3D) measuring device comprising:
a processor system including at least one of a 3D scanner controller and a two-dimensional (2D) scanner processor;
a 3D scanner operable to cooperate with the processor system to determine 3D coordinates;
a 2D scanner accessory including a 2D scanner operable to cooperate with the processor system to determine 2D coordinates;
a moveable platform operable to carry the 3D scanner and the 2D scanner, the 3D scanner being fixed relative to the 2D scanner;
wherein the processor system is responsive to executable instructions which when executed by the processor system is operable to:
cause the 3D scanner, while fixedly located at a scan position, to cooperate with the processor system to acquire a 3D scan of an environment, wherein the 3D scan comprises a global position and is partitioned into a plurality of submaps, each of the plurality of submaps comprising a position anchor;
cause the 2D scanner to cooperate with the processor system to acquire a portion of a 2D map of the environment;
cause the 2D scanner to determine coordinates of the scan position in the 2D map in response to the 3D scanner initiating the acquisition of the 3D scan;
link the coordinates of the scan position with the portion of the 2D map;
store submap data for each of the plurality of submaps into a data object associated with each of the plurality of submaps, wherein the submap data for each of the plurality of submaps comprises a data object position of the data object relative to the position anchor of the respective submap;
perform a loop closure algorithm on each of the plurality of submaps; and
for each of the plurality of submaps for which the position anchor of the submap changed during performing the loop closure algorithm, determine a new data object position for the data objects associated with each of the plurality of submaps for which the position anchor changed.