Surveying system

A surveying subsystem comprising a camera module and a control and evaluation unit, wherein the surveying subsystem is adapted to be used as part of a surveying system that is adapted to determine positions of a position measuring resource, particularly wherein the surveying system further comprising a hand-carried surveying pole and the position measuring resource being mounted on the hand-carried surveying pole:

• the camera module comprising at least one camera for capturing images, particularly wherein the camera module is designed to be attached to the hand-carried surveying pole,
• the control and evaluation unit having stored a program with program code so as to control and execute a spatial representation generation functionality in which—when moving along a path through a surrounding—
• a series of images of the surrounding is captured with the at least one camera, the series comprising an amount of images captured with different poses of the camera, the poses representing respective positions and orientations of the camera,
• a SLAM-evaluation with a defined algorithm using the series of images is performed, wherein a plurality of respectively corresponding image points are identified in each of several sub-groups of images of the series of images and, based on resection and forward intersection using the plurality of respectively corresponding image points,
• a reference point field is built up comprising a plurality of reference points of the surrounding, wherein coordinates of the reference points are derived, and
• the poses for the images are determined,
• based on the determined poses, a point cloud comprising 3D-positions of points of the surrounding is computed by forward intersection using the images of the series of images,
• determined positions of the position measuring resource for points that have been adopted on the path are received by the control and evaluation unit from the surveying system and
• the point cloud is scaled, and particularly geo-referenced, with help of the received determined positions.