Abstract: Some embodiments of the current invention relate to a 3D scanner that models while scanning. For example, the device may recognize common objects and/or edges while scanning. For example, the scanner may create a boundary representation (B-rep) model as it scans. Optionally, the scanner is configured to take advantage of common features on a specific environment. For example, an indoor building scanner may look for known architectural features, walls, edges, corners, pillars doors and/or windows etc. Optionally, the scanner includes a pan tilt head controlled by a controller to scan key features identified in the modelling. Optionally the scanner is stationary and/or mounted on an autonomous robotic platform. Optionally the controller selects a new position to put the scanner and/or outputs the new position to a user.

Abstract: A method of mapping an interior of a building and/or a device for mapping and/or construction of an interior of a building is disclosed. For example, an autonomous device may find a reference point in a building and/or build an accurate 3D model of the space and/or the building. For example, while mapping the building, the device may use 3D features to orient itself and/or define reference points. For example, a corner where three surfaces meet may serve as a reference point. In some embodiments, the device starts from a starting point (optionally the starting point is arbitrary) and/or finds a defined reference point. For example, the device may include a self-mobile device (e.g. a robot) including a 3D sensor (for example a depth camera and/or 3D Lidar). Optionally the system may include a high precision robotic arm.

Abstract: This present invention provides a method for portable electric vehicle battery replacement comprised of providing a platform adapted for holding an electric vehicle upon it, storing a plurality of electric vehicle batteries, and loading charged batteries into the electric vehicles.