Object centric 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 the physical environment acquired via a camera on the device;
• identifying the object in at least some of the images;
• tracking positions of the device during acquisition of the images based on identifying the object in the at least some of the images, the positions identifying positioning of the device with respect to a coordinate system defined based on a position and orientation of the object;
• and
• generating a three-dimensional (3D) model of the object based on the images and positions of the device during acquisition of the images.

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 the physical environment acquired via a camera on the device;
• identifying the object in at least some of the images;
• tracking positions of the device during acquisition of the images based on identifying the object in the at least some of the images, the positions identifying positioning of the device with respect to a coordinate system defined based on a position and orientation of the object;
• and
• generating a three-dimensional (3D) model of the object based on the images and positions of the device during acquisition of the images.