Apparatus, systems and methods for point cloud generation and constantly tracking position

A system for creating an image of a layout of one or more structures in an interior of a building, said system comprising:

• a mobile range-finding laser device (RFLD) configured to be coupled to an operator and to perform scans, each scan measuring a plurality of data points comprising range and angle values relative to a current location of the range-finding laser device and said one or more structures in a field of view of the RFLD;
• an attitude inertial measurement unit (IMU) that is affixed to the range-finding laser device that measures an attitude of the RFLD;
• a first zero-velocity update (zupt) IMU configured to be coupled to the operator and to calculate a position, velocity, and yaw of the operator;
• an image display device;
• a computer in communication with the RFLD, the IMU, the first zupt and the image display device;
• and
• a power supply providing power to one or more of the computer, the RFLD, the IMU, the first zupt, and the image display device
• wherein said computer comprises logic configured to:
• a) convert the plurality of data points for each scan to Cartesian data points,
• b) compare the Cartesian data points for a current scan with Cartesian data points for a preceding scan to derive a first estimated change in position of the RFLD from a position of the preceding scan to a position of the current scan,
• c) using data from the attitude IMU, calculate a change in pitch and roll of the RFLD for the current attitude relative to a pitch and roll of the RFLD for a preceding scan,
• d) using the estimated position, velocity, and yaw data from the first zupt for the current scan and a predetermined offset between a center of the operator and a center of the RFLD, calculate a second estimated change in the position and attitude of the RFLD,
• e) fuse the first estimated change in position, the second estimated change in position and the change in attitude to obtain-a fused change in position and attitude of the RFLD relative to a position and attitude of the RFLD for a preceding scan,
• f) calculate a current global pose for the RFLD based upon the fused change in position and attitude RFLD in step e),
• g) transform the plurality of data points from a sensor frame of reference to a global frame of reference for the current scan to obtain current transformed data points,
• h) merge the current transformed data points with a point cloud comprising prior transformed data points from previous scans, and
• i) display the current and prior transformed data points on the image display device to produce an image of said one or more structures in the field of view of the range-finding laser device.