Patent ID: 9008998
Filing Date: 2015-04-14
Classification: G01C,G06K,G06T

Abstract:
1. A method for post-processing georeferenced mapping data comprising: providing, from a storage, positioning data indicating a position of a data acquisition system in a defined space at specific moments in time; providing, from the storage, ranging data indicating relative position of objects in the defined space with respect to the data acquisition system at the specific moments in time; performing, by using a smoothing processor, a smoothing process on the positioning data to determine smoothed best estimate of trajectory (SBET) data for trajectory of the data acquisition system; performing, by using a scan matching processor, a scan matching process on the SBET data and the ranging data to identify objects and/or object features in the defined space; performing, by using a revising processor, a process to revise the SBET data so that the SBET data aligns with the identified objects and/or object features; and storing, the revised SBET data with the ranging data, into the storage.