Single-Pass Object Scanning

A device comprising:

• a non-transitory computer-readable storage medium;
• and
• one or more processors coupled to the non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium comprises program instructions that, when executed on the one or more processors, cause the system to perform operations comprising:
• acquiring sensor data during movement of the device in a physical environment comprising an object, the sensor data comprising images of a physical environment captured via a camera on the device;
• selecting a subset of the images based on assessing the images with respect to motion-based defects based on device motion and depth data;
• and
• generating a three-dimensional (3D) model of the object based on the selected subset of the images and depth data corresponding to each of the images of the selected subset.

A non-transitory computer-readable storage medium, storing computer-executable program instructions on a computer to perform operations comprising:

• acquiring sensor data during movement of the device in a physical environment comprising an object, the sensor data comprising images of a physical environment captured via a camera on the device;
• selecting a subset of the images based on assessing the images with respect to motion-based defects based on device motion and depth data;
• and
• generating a three-dimensional (3D) model of the object based on the selected subset of the images and depth data corresponding to each of the images of the selected subset.