Abstract: Embodiments for measuring/determining the position and shape of a mirror surface in 3D point clouds are provided given the knowledge of the position from where the points of the point cloud were captured. Starting from an initial rough estimation of a modelled mirror surface, the point cloud is divided into two parts: the presumable virtual points that are behind the modelled mirror with respect to the scanner position and the rest or remainder of the points in the point cloud. The presumable virtual points are mirrored back at the modelled mirror surface and then registered against the rest of the point cloud. The registered points cleaned from outliers together with the associated virtual points define the actual position and shape of the mirror surface.

Abstract: Methods and systems for capturing image information of an environment using a laser scanner are described. The systems include a rotatable mirror arranged to direct light received onto an imaging camera of the laser scanner. The mirror is rotatable relative to the imaging camera and the camera is stationary relative to a rotational axis of the mirror. The methods include rotating the mirror relative to the camera and capturing, via the camera, an image containing image information of the received light. Each pixel of the image contains image information of an accumulation of the received light along a corresponding trajectory during a mirror rotation and each individual trajectory has a trajectory that crosses another of the individual trajectories within the image.

Abstract: Methods and systems for capturing image information of an environment using a laser scanner are described. The systems include a rotatable mirror arranged to direct light received onto an imaging camera of the laser scanner. The mirror is rotatable relative to the imaging camera and the camera is stationary relative to a rotational axis of the mirror. The methods include rotating the mirror relative to the camera and capturing, via the camera, an image containing image information of the received light. Each pixel of the image contains image information of an accumulation of the received light along a corresponding trajectory during a mirror rotation and each individual trajectory has a trajectory that crosses another of the individual trajectories within the image.