Carnegie Mellon University

Kaarta, Inc.

Calvin Wade Sheen

Ji Zhang

Kevin Joseph Dowling

Steven Huber

A method includes receiving a trajectory dataset including a plurality of geospatial points forming a point cloud and acquired along a trajectory wherein for each of the plurality of geospatial points there is a defined an x-coordinate, a y-coordinate and a z-coordinate and at least one mapping device orientation attribute, segmenting the trajectory dataset into a plurality of segments, determining at least one relative constraint for each of the plurality of segments and utilizing, for each of the plurality of segments, at least one of the determined relative constraints to determine a relative position of at least two of the plurality of segments.

Methods and systems for geo-referencing mapping systems

A method of pose calculation for a portable three-dimensional scanning device including a first sensor and a second sensor the method including utilizing data from the first sensor and data from the second sensor to acquire data defining six degrees of freedom of the scanning device to optimize a first pose calculation, receiving data comprising one of data from the first sensor and data from the second sensor, selecting a subset of the six degrees of freedom of the scanning device, utilizing the data from the first sensor and the received data for the selected subset of six degrees of freedom to optimize a second pose, wherein the unselected degrees of freedom are retained from the first pose and storing received data associated with the second camera pose in a point cloud database.

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Chula Vista, CA, United States of America

Calvin Wade Sheen