Patent ID: 11885911
Assignee: OREGON STATE UNIVERSITY
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 14:
15. An apparatus to reconstruct a trajectory of a scanner from a mobile Light Detection and Ranging system, the apparatus comprising:
a memory;
a processor coupled to the memory; and
a communication interface coupled to the processor, wherein the processor is to:
communicate with the mobile Light Detection and Ranging system;
download, based on the communicating, data of a file format for interchange and archiving of point cloud data to extract scanner data, wherein the point cloud data is associated with the mobile Light Detection and Ranging system;
extract the scanner data associated with the mobile Light Detection and Ranging system, wherein the scanner data includes angular resolution between pulses from the mobile Light Detection and Ranging system;
estimate spin rate by a first application of the angular resolution between the pulses;
estimate a scan plane by a second application of the estimated spin rate to obtain orientation of the scanner of the mobile Light Detection and Ranging system;
estimate a scan origin using the estimated scan plane; and
perform global smoothing of the estimated scan origin to reconstruct the trajectory of the scanner.