Patent Document ID: 9170331
Application ID: 13260753
Patent Status: 1

Claim One:
1. A method to generate a model of a first object, the method comprising: receiving, at a processor, location data relating to a location of a second object different from the first object, the second object effective to move translationally and rotationally with respect to the first object and effective to move along a path, wherein the path includes a first point and a second point, the location data including a height of the second object along the path; receiving, at the processor, orientation data, wherein the orientation data relates to an orientation of the second object, the orientation data relates to a gravitational force acting on the second object during the movement of the second object along the path, the orientation data relates to a rotational movement of the second object along the path, and the orientation data relates to a first location in the second object of a first laser rangefinder disposed in the second object, the orientation data relates to a second location in the second object of a second laser rangefinder disposed in the second object, wherein during the movement of the second object along the path, the first laser rangefinder is effective to emit a first laser beam, and the second rangefinder is effective to emit a second laser beam; calculating, by the processor, first line of sight data, wherein the first line of sight data relates to a first line of sight of the first laser rangefinder disposed in the second object, the first line of sight being associated with a first direction when the second object is at the first point along the path, such that the first laser rangefinder detects a first reflection of the first laser beam from the first object when the second object is at the first point along the path, where a first distance between the second object and the first object is based on the first reflection of the first laser beam detected by the first laser rangefinder when the second object is at the first point along the path, the first line of sight being associated with a second direction when the second object is at the second point along the path such that the first laser rangefinder emits the first laser beam along the second direction when the second object is at the second point along the path, the second direction being different from the first direction, when the second object is at the second point along the path, and wherein the first line of sight data is based on the orientation data; calculating, by the processor, second line of sight data, wherein the second line of sight data relates to a second line of sight of the second laser rangefinder disposed in the second object, the second line of sight being associated with a third direction when the second object is at the first point along the path such that the second laser rangefinder emits the second laser beam along the third direction when the second object is at the first point along the path, the second line of sight being associated with a fourth direction when the second object is at the second point along the path such that the second laser rangefinder detects a second reflection of the second laser beam from the first object when the second object is at the second point along the path, where a second distance between the second object and the first object is based on the second reflection of the second laser beam detected by the second laser rangefinder when the second object is at the second point along the path, the second line of sight is different from the first line of sight, the second line of sight data is based on the orientation data, and the second line of sight data is different from the first line of sight data; receiving, at the processor, distance data relating to the first and second distances; calculating, by the processor, an image data point relating to the first object, wherein the image data point is based on the location data, the first line of sight data, the second line of sight data, and the distance data; and generating, by the processor, the model of the first object based on the image data point.