# US 2022/0036645 A1 · System for navigating in cavities > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2022/0036645 A1 - Document ID: US20220036645A1 - Status: Published application - Kind: A1 - Application number: 17/382,437 - Filed: 2021-07-22 - Published: 2022-02-03 - Earliest claimed: 2020-07-28 - Inventors: Moshe Ore - Web page: https://patentgrep.com/patent/US20220036645A1 ## CPC - G01S 17/89: for mapping or imaging - G06T 17/00: Three-dimensional [3D] modelling for computer graphics - G01S 7/4808: {Evaluating distance, position or velocity data} - G01S 7/4813: {Housing arrangements} - G01S 17/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46) - G01S 17/86: Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders - G01C 15/00: Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00 - G06T 2207/10028: Range image; Depth image; 3D point clouds - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) ## Abstract A system, apparatus and method, the system comprising: a scanning device for obtaining three dimensional (3D) information about a cavity surrounding a user, the scanning device comprising a localization and mapping device and an inertial measurement unit; an image capture device for capturing images within the cavity; a processor for receiving the information collected by the scanning device and generating a model of the cavity based on the information; and a display device adapted to display to the user a representation of the model of the cavity, and a route taken by the user within the cavity, wherein the scanning device and the display device are adapted to be attached to at least one wearable item, thereby enabling the user to advance with free hands within the cavity. ## Claims ### Claim 1 A system, comprising: a scanning device for obtaining three dimensional (3D) information about a cavity surrounding a user, the scanning device comprising a localization and mapping device and an inertial measurement unit; an image capture device for capturing images within the cavity; a processor for receiving the information collected by the scanning device and generating a model of the cavity based on the information; and a display device adapted to display to the user a representation of the model of the cavity, and a route taken by the user within the cavity, wherein the scanning device and the display device are adapted to be attached to at least one wearable item, thereby enabling the user to advance with free hands within the cavity. ### Claim 2 (depends on 1) The system of claim 1, wherein the processor is further adapted to generate a two dimensional (2D) model of the cavity and wherein the display device is adapted to display a view of the 2D model. ### Claim 3 (depends on 1) The system of claim 1, wherein the display device is further adapted to receive from the user an indication to an area of the cavity, and display an image captured by the image capture device depicting the area. ### Claim 4 (depends on 1) The system of claim 1, wherein the at least one wearable item comprises a wrist case, a vest, glasses or a helmet to which the display device attaches. ### Claim 5 (depends on 1) The system of claim 1, wherein the at least one wearable item comprises a vest to which the scanning device attaches. ### Claim 6 (depends on 1) The system of claim 1, further comprising a data storage device for storing data output by the scanning device and images captured by the image capture device. ### Claim 7 (depends on 6) The system of claim 6, wherein the data storage device is adapted to be attached to the at least one wearable item. ### Claim 8 (depends on 1) The system of claim 1, further comprising a communication module for transmitting information collected by the scanning device to a remote computing device. ### Claim 9 (depends on 8) The system of claim 8, wherein the remote computing device is adapted to generate a three dimensional model of the cavity. ### Claim 10 (depends on 1) The system of claim 1, further comprising a processor for determining a projection of the 3D information onto a two dimensional map. ### Claim 11 (depends on 1) The system of claim 1, further comprising a positioning system for obtaining real world coordinate of an entrance point to the cavity, and wherein a location of at least one point within the cavity can be determined from output of the scanning device and the real world coordinate of the entrance point. ### Claim 12 (depends on 11) The system of claim 11, further comprising a rover member of the positioning system, and a frame wherein at least the scanning device, the image capture device and the rover member are attached to the frame. ### Claim 13 (depends on 11) The system of claim 11, wherein location of the system is obtained when the system is at a same location for at least a predetermined duration of time starting at a certain point in time, and wherein the location is stored in association with data output by the scanning device captured during the predetermined duration of time after the certain point in time. ### Claim 14 An apparatus, comprising: a moving platform having installed thereon: a scanning device for obtaining three dimensional (3D) information about a cavity surrounding the moving platform, the scanning device comprising a localization and mapping device and an inertial measurement unit; an image capture device for capturing images within the cavity; and a communication device for transmitting to a remote location the 3D information; a processor for receiving the information collected by the scanning device and generating a model of the cavity based on the information; and a display device adapted to display to the user a representation of the model of the cavity, a route taken by the moving platform within the cavity, or an image captured by the image capture device depicting an area corresponding to a location pointed at by a user. ### Claim 15 (depends on 14) The apparatus of claim 14, wherein the moving platform is remotely stirred in accordance with the information as received at the remote computing platform. ### Claim 16 A method comprising: receiving from a scanning device 3D information about a cavity, the scanning device comprising a localization and mapping device and an inertial measurement unit; generating a 2D model of the cavity based on the 3D information; and displaying in real time or near real time to a user in the vicinity of the scanning device, a view of the 2D model. ### Claim 17 (depends on 16) The method of claim 16, further comprising: obtaining a location of the system when the system is at a same location for at least a predetermined duration of time starting at a certain point in time; and storing the location in association with data output by the scanning device captured during the predetermined duration of time after the certain point in time.