Room scanning system using multiple camera and projector sensors

Apparatus for obtaining three-dimensional position data on surfaces defining a room and objects therein, comprising:

• master and slave sensors for scanning the room to determine three-dimensional profiles of surfaces visible to said sensors;
• slave sensors spaced from said master sensor;
• means for projecting a symbol onto a known surface;
• controller means communicating with all sensors and projecting means for commanding the projecting of said symbol in a predetermined direction and measuring the position of said symbol in space, said controller means commanding said slave sensors to search for said symbol and locate said symbol;
• memory means in said controller for storing three-dimensional position data of said symbol as determined by said slave sensors, said position data being relative to individual coordinate systems of each sensor;
• means connected to said memory means for calculating relative positions and orientations of all sensors based upon the positions of said symbol relative to each sensor, said calculating means transforming room profile data obtained by each sensor into a single common coordinate system from relative sensor positions and orientations.