Device and method for indoor mobile mapping of an environment

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

• a first three-dimensional (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;
• a second measurement device operably coupled in a fixed relationship to the first 3D measurement device, the second measurement device being operable to determine a position of the second measurement device based on one or more points on the surface in the area based at least in part on a projected light;
• 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 measurement device, the computer readable instructions comprising:
• acquiring a first group of 3D coordinates of the area with the first 3D measurement device operating while moving the first 3D measurement device through the environment;
• acquiring a second group of coordinates of at least a portion of the area with the second measurement device while the first 3D measurement device is moved through the environment;
• registering the first group of 3D coordinates based at least in part the second group of coordinates;
• and
• wherein the computer readable instructions further comprise determining the position and orientation of the second measurement device.

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

• acquiring a first group of 3D coordinates of the area with a first 3D measurement device operating while moving the first 3D measurement device through the environment, the first three-dimensional (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;
• acquiring a second group of coordinates of at least a portion of the area with a second measurement device while the first 3D measurement device is moved through the environment, the second measurement device being operably coupled in a fixed relationship to the first 3D measurement device, the second measurement device being operable to determine a position of the second measurement device based on one or more points on the surface in the area based at least in part on a projected light;
• and
• registering the first group of 3D coordinates based at least in part the second group of coordinates.

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

• acquiring a first group of 3D coordinates of the area with a first 3D measurement device operating while moving the first 3D measurement device through the environment, the first three-dimensional (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;
• acquiring a second group of coordinates of at least a portion of the area with a second measurement device while the first 3D measurement device is moved through the environment, the second measurement device being operably coupled in a fixed relationship to the first 3D measurement device, the second measurement device being operable to determine a position of the second measurement device based on one or more points on the surface in the area based at least in part on a projected light;
• registering the first group of 3D coordinates based at least in part the second group of coordinates;
• simultaneously acquiring the first group of 3D coordinates and the second group of coordinates;
• and
• determining the position and orientation of the second measurement device.