Registration of three-dimensional coordinates measured on interior and exterior portions of an object

A method comprising:

• determining with a six-DOF tracking system a first position and a first orientation of a dimensional measuring device, the dimensional measuring device configured to determine 3D coordinates of an object surface in a device frame of reference;
• determining a first 3D coordinates of at least one first point on the object with the dimensional measuring device;
• determining with the six-DOF tracking system a second position and a second orientation of the dimensional measuring device;
• capturing with an overview camera a first overview image of a first portion of the object and determining a first 2D coordinates of a first cardinal point in the first overview image, the overview camera being associated with dimensional measuring device;
• determining, with the dimensional measuring device in the second position and second orientation, a second 3D coordinates of at least one second point on the object with the dimensional measuring device;
• moving the dimensional measuring device to a third position and third orientation, wherein the third position and third orientation cannot be determined by the six-DOF tracking system;
• capturing with the overview camera a second overview image of a second portion of the object and determining a second 2D coordinates of the first cardinal point in the second overview image and a third 2D coordinates of a second cardinal point in the second overview image, the second cardinal point further being viewable in the first overview image;
• determining, with the dimensional measuring device in the third position and third orientation, a third 3D coordinates of at least one third point on the object with the dimensional measuring device;
• and
• transforming the first 3D coordinates, the second 3D coordinates and the third 3D coordinates into a system frame of reference based at least in part on the first 2D coordinates of the first cardinal point, the second 2D coordinates of the first cardinal point, and the third 2D coordinates of the second cardinal point.