Surveying subsystem comprising a camera module and a control and evaluation unit, wherein the surveying subsystem is adapted to be used as part of a surveying system that is adapted to determine positions of a position measuring resource comprising a GNSS antenna, wherein • the camera module comprises at least one camera, including at least one panorama camera, for capturing images, • the control and evaluation unit has stored a program with program code so as to control and execute a spatial representation generation functionality with loop closing, wherein for performing the loop closing GNSS data is used to select two images that have been recorded at roughly the same position but at different times, and • in the spatial representation generation functionality - when moving along a path through a surrounding - □ a first series of images of the surrounding is captured with the at least one camera at a first time, the first series comprising an amount of images captured with different poses of the at least one camera, the poses representing respective positions and orientations of the at least one camera, and □ an initial set of image points is identified based on the first series of images, the initial image points representing reference points of a reference point field, wherein each reference point appears in at least two images of the series of images, characterised in that in the spatial representation generation functionality • the poses for the images are determined based on resection using the initial image points, • a second series of images of the surrounding is captured with the at least one camera at a second time, • reference points of a reference point field appearing in at least one of the images of the second series of images are identified, • a further set of image points is identified in the images of the second series of images corresponding to the identified reference points of the second series of images, and • the poses for the images of the second series of images are determined based on resection using the initial set and the further set of image points. • the camera module comprises at least one camera, including at least one panorama camera, for capturing images, • the control and evaluation unit has stored a program with program code so as to control and execute a spatial representation generation functionality with loop closing, wherein for performing the loop closing GNSS data is used to select two images that have been recorded at roughly the same position but at different times, and • in the spatial representation generation functionality - when moving along a path through a surrounding - □ a first series of images of the surrounding is captured with the at least one camera at a first time, the first series comprising an amount of images captured with different poses of the at least one camera, the poses representing respective positions and orientations of the at least one camera, and □ an initial set of image points is identified based on the first series of images, the initial image points representing reference points of a reference point field, wherein each reference point appears in at least two images of the series of images, characterised in that in the spatial representation generation functionality □ a first series of images of the surrounding is captured with the at least one camera at a first time, the first series comprising an amount of images captured with different poses of the at least one camera, the poses representing respective positions and orientations of the at least one camera, and □ an initial set of image points is identified based on the first series of images, the initial image points representing reference points of a reference point field, wherein each reference point appears in at least two images of the series of images, characterised in that in the spatial representation generation functionality characterised in that in the spatial representation generation functionality • the poses for the images are determined based on resection using the initial image points, • a second series of images of the surrounding is captured with the at least one camera at a second time, • reference points of a reference point field appearing in at least one of the images of the second series of images are identified, • a further set of image points is identified in the images of the second series of images corresponding to the identified reference points of the second series of images, and • the poses for the images of the second series of images are determined based on resection using the initial set and the further set of image points.