Using a two-dimensional scanner to speed registration of three-dimensional scan data

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.