Patent Document ID: 20180052233
Application ID: 15675006
Patent Status: 0

Claim One:
1. A three-dimensional (3D) measuring device comprising: a processor system including at least one of a 3D scanner controller, a two-dimensional (2D) scanner processor; a 3D scanner operable to cooperate with the processor system to determine 3D coordinates; a 2D scanner accessory including a 2D scanner operable to cooperate with the processor system to determine 3D coordinates; a moveable platform operable to carry the 3D scanner and the 2D scanner, the 3D scanner being fixed relative to the 2D scanner; wherein the processor system is responsive to executable instructions which when executed by the processor system is operable to: cause the 3D scanner, while fixedly located at a scan position, to cooperate with the processor system to acquire a 3D scan of an environment; cause the 2D scanner to cooperate with the processor system to acquire a portion of a 2D map of the environment; cause the 2D scanner to determine coordinates of the scan position in the 2D map in response to the 3D scanner initiating the acquisition of the 3D scan; link the coordinates of the scan position with the portion of the 2D map; determine a displacement vector for the 2D map using a loop closure algorithm; compute a revised scan position based on the scan position and the displacement vector; and register the 3D scan using the revised scan position.