Abstract: A system for generating a three-dimensional geometric model of a structure, the system including a portable sensing device that can be transported through the structure, wherein the sensing device includes one or more sensors that generate sensor data at least partially indicative of a position of the sensing device relative to at least part of the structure and at least one electronic processing device that determines a captured map of at least part of the structure using the sensor data, determines at least part of a path traversed by the sensing device using the sensor data, identifies one or more model features using the part of the path and the captured map and generates a three-dimensional geometric model of the structure using the model features.

Abstract: A system for generating a three-dimensional model of an object, the system including a portable hand-held imaging device including a housing, a plurality of sensors attached to the housing and at least one electronic processing device coupled to the plurality of sensors. The electronic processing device determines from the plurality of sensors, while the imaging device is in at least two different poses relative to the object, range data indicative of a range of the object and thermal infrared data indicative of a thermal infrared image of the object, generates a three-dimensional model based at least partially upon the range data from the at least two different poses and associates model data derived from the thermal infrared data from the at least two different poses with the three dimensional model to thereby provide a three dimensional thermal infrared model of the object.

Abstract: A system for generating a three-dimensional geometric model of a structure, the system including a portable sensing device that can be transported through the structure, wherein the sensing device includes one or more sensors that generate sensor data at least partially indicative of a position of the sensing device relative to at least part of the structure and at least one electronic processing device that determines a captured map of at least part of the structure using the sensor data, determines at least part of a path traversed by the sensing device using the sensor data, identifies one or more model features using the part of the path and the captured map and generates a three-dimensional geometric model of the structure using the model features.

Abstract: A system for generating a three-dimensional model of an object, the system including a portable hand-held imaging device including a housing, a plurality of sensors attached to the housing and at least one electronic processing device coupled to the plurality of sensors. The electronic processing device determines from the plurality of sensors, whilst the imaging device is in at least two different poses relative to the object, range data indicative of a range of the object and thermal infrared data indicative of a thermal infrared image of the object, generates a three-dimensional model based at least partially upon the range data from the at least two different poses and associates model data derived from the thermal infrared data from the at least two different poses with the three dimensional model to thereby provide a three dimensional thermal infrared model of the object.