Laser scanner and method of registering a scene

Laser scanner comprising:

• a base;
• a measuring head which is rotatable with regard to the base;
• a light emitter which emits an emission light beam;
• a light receiver which is configured to receive a reception light beam reflected by an object in an environment;
• and
• a control and evaluation unit which determines for a plurality of measuring points of each scan at least the distance from a center of the laser scanner to the object and registers the generated scan in a common coordinate system of the scene;
• wherein the control and evaluation unit is further configured to generate a first scan with a first plurality of measuring points and a second scan with a second plurality of measuring points, the first plurality of measuring points and second plurality of measuring points being registered in the common coordinate system;
• wherein the control and evaluation unit is further configured to determine at least one measured distance from at least one of the second measuring points to a center of the second scan and to determine at least one virtual distance from at least one of the first measuring points to the center of the second scan;
• wherein the control and evaluation unit is further configured to perform a consistency check based at least in part on comparing the at least one virtual distance with the at least one measured distance, wherein the at least one virtual distance and the at least one measured distance are vectors.