Device and method for indoor mobile mapping of an environment

A system for optically scanning and measuring an area of an environment comprising:

• a mobile platform;
• a first 3D measurement device mounted to the mobile platform, the first 3D measurement device being operable to determine a distance to a surface in the area based at least in part on the speed of light, the 3D measurement device being operable in a helical mode and a compound mode, wherein a plurality of light beams are emitted along a first path defined by a first axis and a second axis in the compound mode and along a second path defined by the first axis in the helical mode;
• a second 3D measurement device mounted to the mobile platform, the second 3D measurement device being operable to determine a 3D coordinate with six-degrees of freedom (6DOF) of at least one point on the surface in the area;
• a memory having non-transitory computer readable instructions;
• and
• one or more processors for executing the computer readable instructions, the one or more processors being operably coupled to the first 3D measurement device and the second 3D measurement device, the computer readable instructions comprising:
• acquiring a first group of 3D coordinates of the area with the first 3D measurement device operating in one of the helical mode or the compound mode based on a movement of the mobile platform;
• acquiring a second group of 3D coordinates of the area with the second 3D measurement device based at least in part on the movement of the mobile platform;
• and
• registering the first group of 3D coordinates based at least in part the second group of 3D coordinates.