Patent Document ID: 9947100
Application ID: 15195921
Patent Status: 1

Claim One:
1. A method on a device, the method comprising: capturing a plurality of images of a structure when traversing a plurality of locations in a vicinity of the structure; capturing a plurality of measurement sets, wherein each measurement set corresponds to at least one image in the plurality of images; estimating, based, in part, on the plurality of images and the corresponding plurality of measurement sets, a 3D structural envelope of the structure and a trajectory of the device; transmitting information comprising the estimated trajectory of the device, the 3D structural envelope, the plurality of images, and the corresponding measurement sets, to a first server wirelessly coupled to the device; and receiving, based, in part, on the transmitted information, a corrected trajectory of the device registered to absolute coordinates and a 3D structural envelope of the structure registered to the absolute coordinates.