System and method of scanning an environment and generating two dimensional images of the environment

A system for generating a two-dimensional (2D) image of an environment, the system comprising:

• a measurement device configured to be moved to a plurality of registration positions in the environment, the measurement device having a 2D scanner and is sized and weighted to be carried by a single operator, the 2D scanner being configured to sweep a beam of light in a horizontal plane, wherein the plurality of registration positions includes a first registration position and a second registration position;
• wherein the measurement device is configured to obtain a first plurality of 2D scan sets using the 2D scanner while the measurement device moves from the first registration position to the second registration position, each of the first plurality of 2D scan sets being a set of 2D coordinates of points in the environment, each of the first plurality of 2D scan sets being collected by the 2D scanner at a different position relative to the first registration position;
• wherein the measurement device is configured to determine a first translation value corresponding to a first translation direction, a second translation value corresponding to a second translation direction, a first rotation value corresponding to a first orientational axis, and a second rotation value corresponding to a second orientational axis, wherein the first translation value, the second translation value, the first rotation value, and the second rotation value are determined based at least in part on a determination of a change in movement or orientation of the measurement device;
• a processor configured to generate a 2D image of the environment based at least in part on the plurality of 2D scans, the first translation value, the first translation direction, the second translation value, the second translation direction, the first rotation value, and the second rotation value, wherein generating the 2D image includes generating a grid map that includes a plurality of cells, each of the plurality of cells indicating a probability of a cell area being occupied;
• wherein the measurement device includes a first position indicator configured to interact with a remote device having a second position indicator;
• and
• wherein the first position indicator includes a magnetically activated switch and the second position indicator includes a magnet.

A method for generating a two-dimensional (2D) image of an environment, the method comprising:

• moving a measurement device to a plurality of registration positions in the environment, the measurement device having a 2D scanner and is sized and weighted to be carried by a single operator, the 2D scanner being configured to sweep a beam of light in a horizontal plane, wherein the plurality of registration positions includes a first registration position and a second registration position;
• obtaining a first plurality of 2D scan sets using the 2D scanner while the measurement device moves from the first registration position to the second registration position, each of the first plurality of 2D scan sets being a set of 2D coordinates of points in the environment, each of the first plurality of 2D scan sets being collected by the 2D scanner at a different position relative to the first registration position;
• determining a first translation value corresponding to a first translation direction, a second translation value corresponding to a second translation direction, a first rotation value corresponding to a first orientational axis, and a second rotation value corresponding to a second orientational axis, wherein the first translation value, the second translation value, the first rotation value, and the second rotation value are determined based at least in part on a determination of a change in movement or orientation of the measurement device;
• generating a 2D image of the environment based at least in part on the plurality of 2D scans, the first translation value, the first translation direction, the second translation value, the second translation direction, the first rotation value, and the second rotation value, wherein generating the 2D image includes generating a grid map that includes a plurality of cells, each of the plurality of cells indicating a probability of a cell area being occupied;
• and
• actuating a haptic feedback device in the measurement device in response to the second rotation value crossing a predetermined threshold.

A method for generating a two-dimensional (2D) image of an environment, the method comprising:

• moving a measurement device to a plurality of registration positions in the environment, the measurement device having a 2D scanner and is sized and weighted to be carried by a single operator, the 2D scanner being configured to sweep a beam of light in a horizontal plane, wherein the plurality of registration positions includes a first registration position and a second registration position;
• obtaining a first plurality of 2D scan sets using the 2D scanner while the measurement device moves from the first registration position to the second registration position, each of the first plurality of 2D scan sets being a set of 2D coordinates of points in the environment, each of the first plurality of 2D scan sets being collected by the 2D scanner at a different position relative to the first registration position;
• determining a first translation value corresponding to a first translation direction, a second translation value corresponding to a second translation direction, a first rotation value corresponding to a first orientational axis, and a second rotation value corresponding to a second orientational axis, wherein the first translation value, the second translation value, the first rotation value, and the second rotation value are determined based at least in part on a determination of a change in movement or orientation of the measurement device;
• generating a 2D image of the environment based at least in part on the plurality of 2D scans, the first translation value, the first translation direction, the second translation value, the second translation direction, the first rotation value, and the second rotation value, wherein generating the 2D image includes generating a grid map that includes a plurality of cells, each of the plurality of cells indicating a probability of a cell area being occupied;
• and
• emitting a visible laser light beam from a laser projector onto a point on an object, the laser projector being coupled to the measurement device;
• measuring a distance from the measurement device to the point on the object using a three-dimensional camera coupled to the measurement device;
• and
• annotating the 2D image to include a position of the point on the object based at least in part on the distance.