Method and arrangement for capturing an object using a movable sensor

An arrangement for capturing an object, the arrangement comprising:

• a sensor configured to be movable relative to the object, and to repeatedly capture the object, each capture taking place during a capturing time interval, the capturing time interval being an exposure time interval;
• a position measurement system configured to repeatedly ascertain an instantaneous position of the sensor;
• and
• an evaluation device receiving each ascertained position output by the position measurement system at a first predetermined point in time,
• the sensor being further configured to output to the evaluation device at a second predetermined point in time a sensor measurement signal including information captured during the capturing time interval, to determine based on the sensor measurement signal a distance value, and to continuously adjust a duration of the exposure time interval in accordance with a reflectance of the object, and
• and the evaluation device being configured, for at least one capturing time interval, to:
• determine a point in time of the capturing of the object which lies within the capturing time interval;
• ascertain position values output at points in time which include the point in time of the capturing of the object;
• ascertain a position main value based on the position values which approximates a position of the sensor at the point in time of the capturing;
• and
• combine the position main value and the distance value a coordinate value of the object is determined.