Generating textured three-dimensional meshes using two-dimensional scanner and panoramic camera

A method for generating a three-dimensional (3D) mesh of an environment using a two-dimensional (2D) scanner and a camera, the method comprising:

• generating a 2D map of the environment using data captured using the 2D scanner;
• capturing, using the camera, a plurality of panoramic images of the environment from respective locations in the environment;
• identifying a plurality of features from a subset of the panoramic images captured by the camera;
• aligning the subset of the panoramic images with the 2D map using the features that are extracted;
• determining 3D coordinates of the features using 2D coordinates from the 2D map and a third coordinate based on a pose of the camera;
• and
• generating the 3D mesh using the 3D coordinates of the features.

A computer program product comprising a memory device with computer executable instructions stored thereon, which when executed by one or more processing units causes the one or more processing units to execute a method for generating a three-dimensional (3D) mesh of an environment, the method comprising:

• generating a 2D map of the environment using data captured using a 2D scanner;
• capturing, using a camera, a plurality of panoramic images of the environment from respective locations in the environment;
• identifying a plurality of features from a subset of the panoramic images captured by the camera;
• aligning the subset of the panoramic images with the 2D map using the features that are extracted;
• determining 3D coordinates of the features using 2D coordinates from the 2D map and a third coordinate based on a pose of the camera;
• and
• generating the 3D mesh using the 3D coordinates of the features.