Abstract: A system for 3D surveying of an environment by an unmanned ground vehicle (UGV) and an unmanned aerial vehicle (UAV) has two lidar devices. A reference unit has a first and a second marker in a spatially fixed arrangement. An automatic detection of the first marker is carried out for a coordinative measurement by the first lidar device to determine relative position data for providing relative position information of the first marker with respect to the first lidar device. The relative position data and spatial 3D information is used for an automatic detection and a coordinative measurement of the second marker by the second lidar device. The coordinative measurements are used for a referencing of lidar data of the UGV lidar device and lidar data of the UAV lidar device with respect to a common coordinate system.

Abstract: The present invention relates to three-dimensional reality capturing of an environment, wherein data of various kinds of measurement devices are fused to generate a three-dimensional model of the environment. In particular, the invention relates to a computer-implemented method for registration and visualization of a 3D model provided by various types of reality capture devices and/or by various surveying tasks.

Abstract: The invention relates to a computer implemented method for identifying transparent and/or mirroring plane candidates from measurement data resulting from scanning an environment by a laser scanner emitting distance measuring light pulses.

Abstract: The invention relates to a computer implemented UAV control method comprising, in a target selection mode, the steps of displaying on a touch sensitive display a 3D-view of an environment of a UAV; Overlaying a moveable target indicating symbol to the 3D-view of the environment, wherein the target indicating symbol is moveable in the 3D-view by a touch input; While moving the target indicating symbol, continuously determining a location of the target indicating symbol in the 3D-view and dynamically changing the appearance of the target indicating symbol such that it creates the impression of being displayed in an orientation matching the orientation of a face over which the target indicating symbol is located wherein the orientation of the respective face is derived from stored 3D-data or from the 3D-view; And selecting a target based on the location of the target indicating symbol.