Three dimensional spatial imaging system and method

A three dimensional spatial imaging system for generating a three dimensional model of a scanned space, said system comprising:

• detecting means for detecting distances to a plurality of target points within the scanned space, wherein spatial data generated from the detected distances represents the target points in relation to a first three dimensional coordinate system;
• imaging means for obtaining images of the scanned space, wherein image data from the obtained images is represented in a second coordinate system different from the first coordinate system;
• rotating means on which the measuring means and detecting means are mounted, said rotating means rotating up to 360 degrees about a central axis of rotation that is substantially normal to a plane such that the detecting means and imaging means pan through a selected field of view, wherein the detecting means and the imaging means are all mounted substantially on the same plane in which the rotating means is rotated;
• registration means for registering the spatial data and image data with one another in relation to a common coordinate system;
• and,
• processing means for mapping color information from the image data to the spatial data.