Abstract: A method, system, apparatus, article of manufacture, and computer-readable storage medium provide the ability to merge multiple point cloud scans. A first raw scan file and a second raw scan file (each including multiple points) are imported. The scan files are segmented by extracting segments based on geometry in the scene. The segments are filtered. A set of candidate matching feature pairs are acquired by registering features from one scan to features from another scan. The two raw scan files are merged based on the candidate matching feature pairs.

Abstract: A method, system, apparatus, article of manufacture, and computer-readable storage medium provide the ability to merge multiple point cloud scans. A first raw scan file and a second raw scan file (each including multiple points) are imported. The scan files are segmented by extracting segments based on geometry in the scene. The segments are filtered. A set of candidate matching feature pairs are acquired by registering features from one scan to features from another scan.

Abstract: A method, system, apparatus, article of manufacture, and computer-readable storage medium provide the ability to merge multiple point cloud scans. A first raw scan file and a second raw scan file (each including multiple points) are imported. The scan files are segmented by extracting segments based on geometry in the scene. The segments are filtered to reduce a number of segments and identify features. A set of candidate matching feature pairs are acquired by coarsely registering features from one scan to features from another scan. The candidate pairs are refined by improving alignment based on corresponding points in the features. The candidate pairs are scored and then merged based on the scores.

Abstract: A method, system, apparatus, article of manufacture, and computer-readable storage medium provide the ability to merge multiple point cloud scans. A first raw scan file and a second raw scan file (each including multiple points) are imported. The scan files are segmented by extracting segments based on geometry in the scene. The segments are filtered to reduce a number of segments and identify features. A set of candidate matching feature pairs are acquired by coarsely registering features from one scan to features from another scan. The candidate pairs are refined by improving alignment based on corresponding points in the features. The candidate pairs are scored and then merged based on the scores.

Abstract: A method, system, apparatus, article of manufacture, and computer-readable storage medium provide the ability to merge multiple point cloud scans. A first raw scan file and a second raw scan file (each including multiple points) are imported. The scan files are segmented by extracting segments. Features are extracted from the segments. A set of candidate matching feature pairs are acquired by registering/matching/pairing features from one scan to features from another scan. The candidate pairs are refined based on an evaluation of all of the matching pairs. The candidate pairs are further refined by extracting sample points from the segments (within the matched pairs) and refining the pairs based on the points. The feature pairs are scored and then merged based on the scores.

Abstract: A method, system, apparatus, article of manufacture, and computer-readable storage medium provide the ability to merge multiple point cloud scans. A first raw scan file and a second raw scan file (each including multiple points) are imported. The scan files are segmented by extracting segments. Features are extracted from the segments. A set of candidate matching feature pairs are acquired by registering/matching/pairing features from one scan to features from another scan. The candidate pairs are refined based on an evaluation of all of the matching pairs. The candidate pairs are further refined by extracting sample points from the segments (within the matched pairs) and refining the pairs based on the points. The feature pairs are scored and then merged based on the scores.

Abstract: A three-dimensional modeling system includes a multi-axis range sensor configured to capture a first set of three-dimensional data representing characteristics of objects in an environment; a data sensor configured to capture a first set of sensor data representing distances between at least a subset of the objects and the data sensor; a computer-readable memory configured to store each of the first set of three-dimensional data and the first set of sensor data; a mobile base; a processor; and a computer-readable medium containing programming instructions configured to, when executed, instruct the processor to process the first set of three-dimensional data and the first set of sensor data to generate a three-dimensional model of the environment.