# US 10,767,975 B2 · Data capture system for texture and geometry acquisition > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,767,975 B2 - Document ID: US10767975B2 - Status: Granted - Kind: B2 - Application number: 16/049,124 - Filed: 2018-07-30 - Published: 2018-12-20 - Granted: 2020-09-08 - Earliest claimed: 2015-07-29 - Assignees: Microsoft Technology Licensing, LLC - Applicants: Microsoft Technology Licensing, LLC - Inventors: Zanin Cosic; Hannes Hegenbarth; Martin Ponticelli; Gerald Schweighofer; Mario Sormann - Web page: https://patentgrep.com/patent/US10767975B2 ## CPC - G01B 11/02: for measuring length, width or thickness (G01B11/08 takes precedence) - G01B 11/30: for measuring roughness or irregularity of surfaces - G01C 11/00: Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying - G01C 21/20: Instruments for performing navigational calculations (G01C21/24, G01C21/26 take precedence) - G01C 21/383: {Indoor data} - G01C 21/3848: {Data obtained from both position sensors and additional sensors} - G01C 21/3867: {Geometry of map features, e.g. shape points, polygons or for simplified maps} - G01S 13/86: Combinations of radar systems with non-radar systems, e.g. sonar, direction finder - G01S 13/89: for mapping or imaging - G01S 17/86: Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders - G01S 17/89: for mapping or imaging - G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES ## Abstract Examples of the present disclosure describe systems and methods for capturing data to acquire indoor and outdoor geometry. In aspects, a data capture system may be configured to acquire texture data, geometry data, navigation data and/or orientation data to support geolocation and georeferencing within indoor and outdoor environments. The data capture system may further be configured to acquire seamless texture data from a 360° horizontal and vertical perspective to support panoramic video and images. ## Claims ### Claim 1 A vehicle configured to be autonomously navigated, the vehicle comprising: at least one processor; and memory coupled to the at least one processor, the memory comprising computer executable instructions that, when executed by the at least one processor, performs a method comprising: receiving signal data; processing the signal data, wherein the processing comprises determining a time associated with the signal data; synchronizing one or more sensors of the vehicle based at least on the determined time; using the one or more sensors, acquiring environmental data from an environment; and providing feedback associated with the acquired environmental data, wherein the feedback is used to autonomously navigate the vehicle. ### Claim 2 (depends on 1) The vehicle of claim 1, wherein the signal data is received from at least one of a navigation system and cellular network. ### Claim 3 (depends on 2) The vehicle of claim 2, wherein processing the signal data further comprises performing a kinematic alignment of one or more components of the vehicle. ### Claim 4 (depends on 3) The vehicle of claim 3, wherein performing the kinematic alignment comprises aligning a navigation system antenna of the vehicle with an inertial measurement unit (IMU) of the vehicle. ### Claim 5 (depends on 1) The vehicle of claim 1, wherein synchronizing one or more sensors comprises using the time associated with the signal data to synchronize the one or more sensors to a common clock of the vehicle. ### Claim 6 (depends on 1) The vehicle of claim 1, wherein synchronizing one or more sensors comprises: determining spatial coordinate data associated with the signal data; and using the spatial coordinate data to synchronize the one or more sensors to a spatial coordinate system of the vehicle. ### Claim 7 (depends on 1) The vehicle of claim 1, wherein the environmental data comprises image data of the environment and distance data between the one or more sensors and one or more objects in the environment. ### Claim 8 (depends on 1) The vehicle of claim 1, wherein the environmental data is used to construct a three dimensional representation of the environment. ### Claim 9 (depends on 1) The vehicle of claim 1, wherein the environmental data is used to calculate movement information of the vehicle. ### Claim 10 (depends on 1) The vehicle of claim 1, wherein the movement information is used to autonomously maneuver the vehicle in the environment. ### Claim 11 (depends on 1) The vehicle of claim 1, wherein providing the feedback comprises displaying a three dimensional representation of the environment, wherein the three dimensional representation is colored using image data in the environmental data and textured using texture data in the environmental data. ### Claim 12 (depends on 1) The vehicle of claim 1, wherein providing the feedback comprises providing instructions for operating the vehicle in the environment. ### Claim 13 A computer-implemented method for autonomously navigating a vehicle, the method comprising: receiving a first set of signal data; processing the first set of signal data, wherein the processing comprises determining a time associated with the first set of signal data; synchronizing one or more sensors of the vehicle based at least on the determined time; using the one or more sensors, acquiring environmental data from an environment of the vehicle; and using feedback associated with the acquired environmental data to autonomously navigate the vehicle. ### Claim 14 (depends on 13) The method of claim 13, wherein the first set of signal data comprises geo-spatial positioning information and time signals for the vehicle. ### Claim 15 (depends on 13) The method of claim 13, wherein processing the first set of signal data further comprises determining the geo-spatial location of the vehicle. ### Claim 16 (depends on 13) The method of claim 13, further comprising: receiving a second set of signal data; comparing the second set of signal data to the first set of signal data; and based on the comparison, determining a course of the vehicle. ### Claim 17 (depends on 16) The method of claim 16, wherein comparing the second set of signal data to the first set of signal data comprises: determining an image in the first set of signal data; determining a corresponding image in the second set of signal data; and determining a change in position of the vehicle over time. ### Claim 18 (depends on 13) The method of claim 13, further comprising: receiving a second set of signal data; comparing the second set of signal data to the first set of signal data; and based on the comparison, determining an alteration to at least one of a velocity and a direction of an object in the environment. ### Claim 19 (depends on 18) The method of claim 18, wherein the movement of the vehicle is modified based on the determined alteration to the object.