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

Claim 0:
1. A system comprising:
a housing including an image sensor directed in a first direction and a distance sensor directed in a second direction, wherein during movement of the housing through an environment the image sensor is configured to generate an image sequence and the distance sensor is configured to generate a set of distance values, wherein the second direction is within a predetermined angular range of the first direction;
a control unit including a processor and a memory storing instructions, wherein the processor is configured to execute the instructions to:
generate, based on the image sequence, a first 3D model of the environment;
generate a first set of revolved 3D models by revolving the first 3D model relative to the image sensor to a first plurality of positions within the predetermined angular range;
match the set of distance values to at least one of the first set of revolved 3D models;
determine, based on the matched at least one of the first set of revolved 3D models, a first angular position of the second direction relative to the first direction; and
generate, based on the first 3D model, the set of distance values, and the first angular position, a 3D reconstruction of the environment, the 3D reconstruction including information indicative of a scale of the environment.