Surveying device, system and method

Abstract

The system comprises a surveying device and at least one processor. The surveying device includes a support and a sensor attached to the support. The sensor is configured to capture measurement data. The at least one processor is coupled to the sensor to receive the measurement data. The at least one processor is configured to obtain a scene model corresponding to an initial set of measurement data captured by the sensor when the support is located at an initial position in the scene, determine a location of the surveying device relative to the scene model based on the initial set of measurement data and the scene model, and update the location of the surveying device relative to the scene model based on a subsequent set of measurement data captured by the sensor when the support is located at a corresponding subsequent position.

Description

[Background technology]

[0001] High-end building construction projects require very precise measurements to ensure proper construction. Some components often have installation tolerances that are less than a quarter inch, eighth inch, or even sixteenth of an inch, and if these tolerances are not met, undesirable results can result.

[0002] There are various methods for measuring or surveying a construction site. A simple tape measure is the most commonly utilized tool and is capable of providing fairly accurate measurements along with area and height. However, mistakes are frequently made when using tape measures, especially when measuring points in two or three dimensions where orthogonality must be guaranteed in each dimension. In addition, the longer a tape measure is taken, the more error prone it becomes, as a small angular deviation from orthogonality can become a large error at the other end. Finally, the further away a measurement is taken from a control point, the worse the measurement errors from the tape measure will combine with each other. For these reasons, tape measures cannot be trusted for the high accuracy and / or multi-dimensional measurement control required for increasingly demanding construction applications.

[0003] Total stations and robotic total stations are more sophisticated instruments for accurately measuring points in two or three dimensions. These instruments represent the current gold standard for accurately measuring points in three dimensions on large construction sites. Two people are needed to operate a total station: one person to assemble, level and operate the tripod-mounted total station, and another person to move the surveying rod around to the various measurement points. Robotic total stations can be remotely controlled by the person holding the surveying rod, making the surveying a one-person job. Both total stations and robotic total stations are capable of achieving the high level of measurement accuracy required for demanding construction projects. However, the inventors have noticed some drawbacks.

[0004] Total stations are expensive, and robotic total stations are even more expensive. Locating and operating a total station requires a trained surveyor with a strong educational background and knowledge of trigonometry. In addition, using a survey rod requires a lot of practical experience to ensure that the rod is perfectly vertical when taking measurements. In addition to being difficult to maintain vertical, this requirement means that measurements can only be taken on floors or ground, not on vertical surfaces such as walls or ceilings. Furthermore, a line of sight is required between the total station and the survey rod, and a clear line of sight is often not possible on construction sites with high piles of pallets and fixtures. Last but not least, expensive robotic total stations require location and are susceptible to having their tripods removed as construction activities progress. [Brief description of the drawings]

[0005] Aspects of the present disclosure are best understood from the following detailed description when read in conjunction with the accompanying drawings. It should be noted that, in accordance with standard industry practice, various features have not been drawn to scale. In fact, dimensions of various features may be arbitrarily increased or decreased for clarity of discussion.

[0006] FIG. 1A is a schematic block diagram of a computer system according to some embodiments.

[0007] FIG. 1B is a schematic diagram of a surveying device according to some embodiments. FIG. 1C is a schematic diagram of a surveying device in operation, according to some embodiments.

[0008] FIG. 2 is a flowchart of a method of operating a surveying device according to some embodiments.

[0009] FIG. 3 is a schematic diagram of a surveying device in operation, according to some embodiments.

[0010] FIG. 4 is a diagram that illustrates diagrammatically different operations of a surveying device, according to some embodiments. FIG. 5 is a diagram that illustrates diagrammatically different operations of a surveying device, according to some embodiments. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] The following disclosure provides many different embodiments or examples for implementing different features of the provided subject matter. Specific examples of components, materials, values, steps, operations, materials, configurations, and the like are described below to simplify the disclosure. Of course, these are examples only and are not intended to be limiting. Other components, values, operations, materials, configurations, and the like are contemplated. In addition, the disclosure may repeat reference numbers and / or letters in various illustrations. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and / or configurations being discussed.

[0012] Additionally, for ease of description, spatially relative terms such as "below," "lower," "lower side," "upper," "upper" and the like may be used herein to describe the relationship of one element or feature to another element or feature as depicted in the drawings. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the drawings. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptions used herein may be similarly interpreted accordingly.

[0013] One or more embodiments provide a method, system, and / or surveying device for measuring points and coordinates at a construction site. Various features associated with some embodiments will now be described. Prior to such description, a glossary of terms applicable to at least some embodiments is provided.

[0014] Scene: According to some embodiments, a Scene (also referred to herein as a "scene") includes or refers to the set of physical visible objects in an area in which a surveying device (also referred to in some embodiments as a "measurement tool") is used, along with the location of each object. For example, a scene of the interior of a library includes walls, windows, bookshelves, books, and desks, i.e., the physical objects visible in the library.

[0015] Virtual Model: According to some embodiments, a virtual model (referred to herein as a “virtual model”) A virtual model (also referred to as a virtual model) is a digital representation of one or more physical objects that describes the geometry of those objects. In some embodiments, the virtual model is a 2D drawing. In some embodiments, the virtual model is a collection of one or more faces that describes the boundary or a portion of the boundary of a set of one or more objects. For example, a virtual model that encompasses the top and bottom faces of a cube is a virtual model that describes a portion of the boundary of the cube. Similarly, for example, a virtual model that encompasses all six faces of a cube is a 3D model that describes the entire boundary of the cube. In at least one embodiment, the virtual model may include a computer-aided design (CAD) object. In one or more embodiments, the virtual model may include a spatial domain construction (CSG) object. The virtual model may also include a triangular mesh that is used to represent all or a portion of one or more objects. The virtual model may also include points that fall on the surface of the object, such as a point cloud from a sensor such as a laser scanner. The virtual model may also be a digital volumetric representation of one or more physical objects, such as an occupancy grid map. A digital representation of a geometry may include a virtual model.

[0016] Scene Model: According to some embodiments, a Scene Model (also referred to herein as a "scene model") is a virtual model that describes the geometry of a scene. In at least one embodiment, a scene model accurately reflects the shape and physical dimensions of a scene, and accurately reflects the positions of objects visible within that scene.

[0017] Localization (or Localizing): According to some embodiments, localization of an instrument (also referred to herein as "localization") refers to the process of determining the 2D or 3D location of that instrument according to a working coordinate system used by a scene model. In some embodiments, the instrument being localized is a surveying device as described herein. The working coordinate system may be any coordinate system that can be used to describe objects in a scene model. In at least one embodiment, the working coordinate system is different from the predefined coordinate system in which the scene model is represented when the scene model is generated and / or loaded. For example, the predefined coordinate system is a Cartesian coordinate system, while the working coordinate system is a spherical coordinate system or a Cartesian coordinate system whose origin is shifted from the origin of the predefined Cartesian coordinate system. In at least one embodiment, more than one working coordinate system may be used. In at least one embodiment, the working coordinate system is the same as the predefined coordinate system.

[0018] Measurement Data: According to some embodiments, Measurement Data (also referred to herein as "measurement data") refers to any data that describes the relative spatial arrangement of an object, and may include photographs, laser scanning data, surveying data, or any other spatial measurements. In one or more embodiments, measurement data may include measurement data of color patterns on a surface (e.g., for photogrammetry). In at least one embodiment, measurement data may also refer to the identity of one or more locations.

[0019] Point Cloud: According to some embodiments, a point cloud is a collection of measured points (also referred to as locations) of a scene. These measured points may be acquired using a laser scanner, photogrammetry, or other similar 3D measurement techniques. In some embodiments, the measurement data includes the measured points.

[0020] Element: According to some embodiments, an Element (also referred to herein as an "element") is a physical object that is installed or constructed during construction. Examples of elements include, but are not limited to, I-beams, pipes, walls, ducts, etc.

[0021] Self-Locating Device: According to some embodiments, a Self-Locating Device (also referred to herein as a "self-locating device" or "self-locating measurement tool") is a tool or instrument that is configured to capture measurement data and use this data to locate itself relative to a working coordinate system of a scene model. In some embodiments, a self-locating device may be used to measure or record a location after it has been located. In some embodiments, a self-locating device may be used to layout after it has been located. This list of embodiments is not exclusive and other types of self-locating devices are possible in further embodiments. In at least one embodiment, the surveying device described herein is a self-locating device.

[0022] Design Model: According to some embodiments, a Design Model (also referred to herein as a "design model") is a virtual model that describes the geometry of a physical structure or object to be constructed or installed. For example, a design model of a simple square room may include a digital representation of four walls, a floor, and a ceiling, all to scale, accurately depicting the designer's intent for how the structure should be constructed. According to some embodiments, the design model exists in the same working coordinate system as the scene model.

[0023] Design Location: According to some embodiments, a Design Location (also referred to herein as a “design location”) is a spatial location where an element is intended to be installed.

[0024] Laying Out or Layout: According to some embodiments, Laying Out (also referred to herein as "laying out") is the process of locating and marking predetermined coordinates on a construction site. For example, a design model may require a hole to be drilled in the floor at a point 10 feet west and 22 feet north of a corner of the structure (i.e., the design location). When a surveyor (or user) lays out this point, this means that the surveyor takes measurements within the structure to precisely find this point (i.e., the design location) and then places a mark on the floor at this precise location so that a construction worker can later drill the hole.

[0025] Indicator: According to some embodiments, an indicator (also referred to herein as an "indicator") represents a part of a measurement tool that allows a user to physically touch or point to one or more locations within a scene. In some embodiments, an indicator is the physical tip of a measurement tool that a user can move to point out a particular measured position. For example, an indicator may be the tip of a surveying rod that a surveyor can touch to a corner of a beam to measure its position.

[0026] Data Interface: According to some embodiments, a Data Interface (also referred to herein as a "data interface") comprises a portion of a computer system that allows data to be loaded into and / or out of the computer system. In some embodiments, a network interface acts as a data interface, allowing data to be loaded over a wired or wireless network. In some embodiments, an input / output interface or device acts as a data interface. In some embodiments, a removable memory device or removable memory media acts as a data interface, allowing data to be loaded by attaching the device or by loading the media. In some embodiments, data is preloaded into a storage device, e.g., hardware, within the computer system, and the storage device acts as a data interface. This list of exemplary embodiments is not exhaustive and other forms of data interfaces are found in further embodiments.

[0027] In some embodiments, the surveying device comprises a sensor configured to capture measurement data of a scene in which the surveying device is located. At least one processor is coupled to the sensor to receive the measurement data. The at least one processor is an internal processor of the surveying device, or an external processor. The at least one processor is configured to obtain a scene model corresponding to an initial set of measurement data captured by the sensor when a support of the surveying device is located at an initial position in the scene. In some embodiments, when an existing scene model is not available, the at least one processor is configured to generate a scene model based on the initial set of measurement data. In one or more embodiments, the at least one processor is configured to match the initial set of measurement data with the existing scene model. After matching or generating the scene model, the at least one processor is configured to determine the location (and in some embodiments the orientation, e.g., which way the surveying device is facing) of the surveying device relative to the scene model when the surveying device is in the initial position and when the surveying device is in one or more subsequent positions in the scene. In some embodiments, determining the location of the surveying device relative to the scene model means that the surveying device and the scene model are in a common working coordinate system, which can be any working coordinate system, for example, the working coordinate system of the scene model, the working coordinate system of the surveying device, or another working coordinate system. In one example, the surveying device is located in the working coordinate system of the scene model and uses this working coordinate system of the scene model as a base map for positioning itself relative to it as the surveying device is moved across the scene for surveying, measuring, or layout. In another example, the scene model is located in the working coordinate system of the surveying device. Those skilled in the art will appreciate that these two scenarios are mathematically equivalent, since the transformation for locating the scene model in the working coordinate system of the surveying device is simply the inverse of the transformation for locating the surveying device in the working coordinate system of the scene model.This differs from other approaches in which the device positions itself relative to previous frames of data captured by the sensor. In other approaches, as the device moves around, positioning errors accumulate from one frame to the next, potentially resulting in unacceptable inaccuracies. In contrast, in one or more embodiments, the location and orientation of the surveying device are always determined using the same scene model. As a result, in at least one embodiment, a high level of measurement accuracy can be obtained that is particularly well suited for demanding construction projects.

[0028] FIG. 1A is a schematic block diagram of a computer system 100 configured in accordance with some embodiments. In one or more embodiments, the computer system 100 is partially or wholly contained within a surveying device as described herein. In at least one embodiment, the computer system 100 is entirely external to the surveying device and is coupled to the surveying device by a wired or wireless connection. In some embodiments, the computer system 100 is configured to perform one or more of the methods, processes or operations described herein, such as, for example, the methods and / or operations described in connection with one or more of FIGS. 2-4, for example, by executing a set of instructions stored in a memory. In some embodiments, the computer system 100 includes components suitable for use in 3D modeling.

[0029] In some embodiments, computer system 100 includes one or more of various components, such as memory 102, storage device 103, hardware central processing unit (CPU) or processor or controller 104, display 106, one or more input / output interfaces or devices 108, and / or network interface 112, coupled together by bus 110. In some embodiments, CPU 104 processes information and / or instructions stored in memory 102 and / or storage device 103, for example. In some embodiments, CPU 104 includes one or more individual processing units. In one or more embodiments, CPU 104 is a distributed processing system, an application specific integrated circuit (ASIC), and / or a suitable processing unit. In one or more embodiments, the processes and / or methods and / or operations described are implemented in part or in whole in two or more computer systems 100 and / or by two or more processors or CPUs 104.

[0030] In some embodiments, a bus 110 or another similar communication mechanism transfers information between components of the computer system, such as memory 102, CPU 104, display 106, input / output interfaces or devices 108, and / or network interface 112. In some embodiments, information is transferred between some of the components of computer system 100 or within the components of computer system 100 over a communications network, such as wired or wireless communication paths established by, for example, the Internet.

[0031] In some embodiments, memory 102 and / or storage device 103 include non-transitory computer-readable storage media. In some embodiments, memory 102 and / or storage device 103 include volatile and / or non-volatile computer-readable storage media. Examples of memory 102 and / or storage device 103 include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, and / or semiconductor systems (or apparatus or devices), such as semiconductor or solid-state memory, magnetic tape, removable computer diskettes, random access memory (RAM), read-only memory (ROM), rigid magnetic disks (hard disk drives or HDDs), solid-state drives (SSDs), and / or optical disks. In some embodiments, memory 102 stores a set of instructions executed by CPU 104. In some embodiments, memory 102 is also used to store temporary variables or other intermediate information during execution of instructions executed by CPU 104. In some embodiments, instructions for causing CPU 104 and / or computer system 100 to perform one or more of the described steps, operations, methods, and / or tasks may be located in memory 102. In some embodiments, these instructions may alternatively be loaded from a disk (e.g., storage device 103) and / or retrieved from a remote network-connected location. In some embodiments, the instructions reside on a server and are accessible and / or downloadable from the server via a data connection with a data interface. In some embodiments, the data connection may include a wired or wireless communication path established, for example, by the Internet.

[0032] In some embodiments, the network interface 112 includes circuitry contained within the computer system 100 and provides a connection to a network (not shown), thereby enabling the computer system 100 to operate in a networked environment. In some embodiments, the computer system 100 is configured to receive data, such as measurements describing portions of a scene, from sensors through the network interface NIC 112 and / or the input / output interfaces or devices 108. In some embodiments, the network interface 112 includes one or more wireless network interfaces, such as BLUETOOTH, WIFI, WIMAX, GPRS, LTE, 5G, or WCDMA, and / or one or more wired network interfaces, such as ETHERNET, USB, or IEEE-1364.

[0033] In some embodiments, the memory 102 includes one or more executable modules for implementing the operations described herein. In some embodiments, the memory 102 includes an analysis module 114. In some embodiments, the analysis module 114 includes software for analyzing point cloud datasets, examples of such software include Verity™ developed by ClearEdge 3D of Broomfield, Colorado. In some embodiments, the analysis module 114 also includes executable instructions for causing the CPU 104 to perform one or more operations, methods, and / or tasks described herein, such as matching the measurement data to a scene model, calculating necessary transformations, and applying the transformations to the location of the surveying device to locate the surveying device relative to the scene model. Examples of operations performed by such analysis module 114 are discussed in more detail below, for example, in connection with one or more of Figures 2-4. It should be noted that the analysis module 114 is provided as an example. In some embodiments, additional modules, such as an operating system or a graphical user interface, are also included. It should be appreciated that the functionality of the modules may be combined. Additionally, the functionality of the modules need not be implemented on a single survey device. Instead, functionality may be distributed across a network, as desired. Indeed, some embodiments of the present invention are implemented in a client-server environment, with various components implemented on the client side and / or the server side.

[0034] In some embodiments, computer system 100 further comprises a display 106, such as a liquid crystal display (LCD), a cathode ray tube (CRT), a touch screen, or other display technology, for displaying information to a user. In some embodiments, display 106 is not included as part of computer system 100. In some embodiments, computer system 100 is configured to be removably connected to display 106.

[0035] In some embodiments, the memory 102 and / or storage device 103 include static and / or dynamic memory storage devices such as flash drives, SSDs, memory cards, hard drives, optical and / or magnetic drives, and similar storage devices for storing information and / or instructions. In some embodiments, the static and / or dynamic memory 102 and / or storage device 103 storing media are configured to be removably connected to the computer system 100. In some embodiments, data such as measurements describing portions of a scene are received by loading a removable medium (such as the storage device 103) into the memory 102, such as, for example, placing an optical disk in an optical drive, placing a magnetic tape in a magnetic drive, or similar data transfer operation. In some embodiments, data such as measurements describing portions of a scene are received by attaching a removable static and / or dynamic memory 102 and / or storage device 103, such as a flash drive, SSD, memory card, hard drive, optical and / or magnetic drive, and the like, to the computer system 100. In some embodiments, data such as measurements describing portions of a scene are received through network interface 112 or input / output interfaces or devices 108. Examples of input / output interfaces or devices 108 include, but are not limited to, a keyboard, a keypad, a mouse, a trackball, a trackpad, a touch screen, and / or cursor direction keys for communicating information and commands to CPU 104.

[0036] In some embodiments, the computer system 100 further comprises one or more sensors 118 coupled to other components of the computer system 100 by the bus 110. In one or more embodiments, the computer system 100 can be coupled to external sensors 119, for example, through the network interface 112 and / or the input / output interface or device 108. One or more of the sensors 118, 119 correspond to one or more sensors of a surveying device as described herein. Examples of the sensors 118, 119 include, but are not limited to, laser scanners, light detection and ranging (LIDAR) scanners, depth sensors, video cameras, still image cameras, echolocation sensors (e.g., sonar devices), global positioning system (GPS) receivers, inertial measurement units (IMUs), compasses, altimeters, gyroscopes, accelerometers, and the like.

[0037] 1B is a schematic diagram of a surveying device 120, according to some embodiments. In some embodiments, the surveying device 120 is a self-locating device configured to be used for both measurement and layout. In the exemplary configuration of FIG. 1B, the surveying device 120 includes a device 122, a sensor 124, a support 126, and an indicator 128.

[0038] The device 122 is a piece of hardware supported by a support 126 and configured to perform one or more of the necessary calculations as described herein or to connect (through a wire or wirelessly) to an external device that performs the necessary calculations. In at least one embodiment, the device 122 comprises a processor corresponding to the CPU 104 for performing one or more of the necessary calculations. In one or more embodiments, the device 122 comprises a data interface as described in connection with FIG. 1A for connecting to and transferring data to and / or from an external processor or an external computer system (e.g., a laptop, a smartphone, a tablet, etc.) that performs the necessary calculations. In at least one embodiment, the device 122 comprises one or more components of the computer system 100. For example, in some embodiments, the device 122 includes a display, such as the display 106 described in connection with FIG. 1A, for reporting measurements and showing results to a user. In some embodiments, the device 122 is configured to transmit measurement reports and results to an external display.

[0039] In some embodiments, the device 122 is a portable device that is removably attached to the support 126 by any suitable structure, such as a screw, a bayonet mechanism, a clip, a holder (such as a phone or tablet holder), a magnet, a hook-and-loop fastener, or the like. In at least one embodiment, the portable device has a computer architecture corresponding to the computer system 100. Examples of such portable devices include, without limitation, a smartphone, a tablet, a laptop, or the like. In some embodiments, the portable device comprises a sensor 124. For example, the portable device is a tablet or a smartphone equipped with a sensor, such as a LIDAR scanner, that is configured to capture spatial measurement data. The illustrated arrangement in which the device 122 is on top of the sensor 124 and / or on the top of the support 126 is an example. Other configurations are within the scope of various embodiments.

[0040] The sensor 124 is configured to capture measurement data of the surrounding scene for use in locating the surveying device 120 and / or using the surveying device 120 for measurement or layout. In at least one embodiment, the sensor 124 includes two or more sensors of the same or different types. In some embodiments, the sensor 124 may include a laser scanning device configured to capture point measurements, such as a SICK LIDAR system, a Velodyne LIDAR system, a Hokuyo LIDAR system, or any of several flash LIDAR systems. The resulting "point cloud" of distance measurements collected from the laser scanning device can be matched against the 3D geometry of a scene model to determine the location and pose (or orientation) of the surveying device 120, as described in connection with FIG. 2.

[0041] In some embodiments, the sensor 124 may include a depth sensor configured to capture a point cloud of distance measurements using structured light instead of a laser scanning device.

[0042] In some embodiments, the sensor 124 may include a camera system consisting of one or more calibrated video and / or still image cameras configured to capture images at a high refresh rate. The resulting image data collected from this camera system may be matched to previous frames of image data or to projected edges of the 3D geometry of a scene model to determine the location and pose of the surveying device 120, as described in connection with FIG. 2. In some embodiments, the frames from the camera may be used, for example, by a processor within the device 122 and / or an external processor, to create a point cloud of distance measurements through the use of photogrammetric reconstruction. This point cloud may be matched to the 3D geometry of a scene model to determine the location and pose of the surveying device 120, as described in connection with FIG. 2.

[0043] In some embodiments, the sensor 124 may include a Global Positioning System (GPS) receiver for receiving data from GPS satellites to help calculate the position of the surveying device 120. In some embodiments, the sensor 124 may include an Inertial Measurement Unit (IMU) to help calculate the position and / or orientation of the surveying device 120. In some embodiments, the sensor 124 may include a compass to help calculate the orientation of the surveying device 120. In some embodiments, the sensor 124 may include an altimeter to help calculate the altitude of the surveying device 120. In some embodiments, the sensor 124 may include one or more survey prisms to enable the surveying device 120 to be located by a total station. For example, the total station emits a light beam towards the surveying device 120, collects light beams reflected from one or more survey prisms of the surveying device 120, and calculates the location of the surveying device 120 based on the emitted and reflected light beams. The calculated location of the surveying device 120 is obtained from a total station and used to locate the surveying device 120 as described herein. In some embodiments, the sensors 124 may include multiple different sensors to calculate the position and / or orientation of the surveying device 120.

[0044] The sensor 124 is attached to the support 126. In some embodiments, the sensor 124 is rigidly attached to the support 126. As used herein, "rigidly attached" includes not only that the sensor 124 is permanently attached to the support 126, but also that the sensor 124 is removably attached to the support 126, provided that the relative position or spatial relationship between the support 126 and the sensor 124 rigidly attached thereto remains unchanged with and during the movement of the surveying device 120 across the scene to be surveyed or laid out. In other words, the spatial relationship between the sensor 124 and the indicator 128 is known or predetermined. Examples of suitable structures for removably but rigidly attaching the sensor 124 to the support 126 include, but are not limited to, screws, bayonet mechanisms, clips, holders, magnets, hook-and-loop fasteners, and the like. In some embodiments, the sensor 124 is movably or adjustably attached to the support 126, provided that the spatial relationship between the sensor 124 and the indicator 128 is determinable. In one example, the support 126 may have a first portion and a second portion movably connected to each other by a pivot, the first portion having the sensor 124 and the second portion having the indicator 128. The angle between the first portion and the second portion is adjustable due to the pivot, but the angle is determinable. In one example, a current is passed through an arc between the first portion and the second portion and the resistance is measured to determine the angle. In a further example, each of the first portion and the second portion of the support has a separate tilt angle sensor, and the difference between the outputs of the two tilt angle sensors indicates the angle between the first portion and the second portion of the support. The determinable angle and known dimensions of the first portion and the second portion of the support allow the spatial relationship between the sensor 124 and the indicator 128 to be determined. The known or determinable spatial relationship between the sensor 124 and the indicator 128 is used to locate the surveying device 120 as described herein.

[0045] In some embodiments where the sensor 124 includes multiple sensors, some or all of such sensors are removably attached to one another by any suitable structure, such as screws, bayonet mechanisms, clips, holders, magnets, hook-and-loop fasteners, and the like. For example, the sensors are removably attached sequentially, one above the other, on the upper portion of the support 126. In at least one embodiment, this arrangement provides the surveying device 120 with a high degree of customizability, allowing a user to select the appropriate sensor or sensors to be used by the surveying device 120 for a particular surveying task and / or a particular construction project. The illustrated arrangement, where the sensor 124 is on the upper end of the support 126, is an example. Other configurations are within the scope of various embodiments.

[0046] In some embodiments, the support 126 is an elongated support or rod, as shown in FIG. 1B. In at least one embodiment, the support 126 serves as a handle by which a user can hold the surveying device 120 to move and reposition the surveying device 120 within a scene. The configuration of the support 126 shown and described as a rod is an example. Other configurations are within the scope of various embodiments. For example, any shape or configuration of the support 126 that allows a person to move the surveying device 120 will suffice in one or more embodiments.

[0047] The indicator 128 is used to position the surveying device 120 at a point to be measured or laid out. In some embodiments, the location of the surveying device 120 is the location of the indicator 128. Since the spatial relationship between the sensor 124 and the indicator 128 is known or determinable, the location of the indicator 128 is clearly related to and determinable from the location of the sensor 124, and vice versa. Thus, in one or more embodiments, the location of the surveying device 120 can also be expressed by the location of the sensor 124. A statement herein that the surveying device 120 is located at a point means that the indicator 128 is located at that point. In the exemplary configuration of FIG. 1B, the indicator 128 is a tip at the bottom end of the support 126. Other indicator configurations are within the scope of various embodiments. For example, in one or more embodiments, the indicator 128 is a crosshair or any other physical indicator that can be precisely positioned at a point where a user desires to measure. The placement of the indicator 128 at the bottom end of the support 126 is an example. Other parts of the support 126 on which the indicator 128 can be disposed are within the scope of various embodiments.

[0048] In some embodiments, the indicator 128 has a predetermined or determinable spatial relationship with the sensor 124. For example, the distance or length L between the sensor 124 and the indicator 128 is predetermined or known and input into the at least one processor to enable the at least one processor to accurately determine the location of the indicator 128 based on measurement data captured by the sensor 124 positioned the predetermined distance L apart.

[0049] FIG. 1C is a schematic diagram of a surveying device 120 in operation, according to some embodiments.

[0050] In the operation of FIG. 1C, also referred to herein as a "fast move" operation, the sensor 124, e.g., a LIDAR scanner, is configured to capture measurement data as the indicator 128 remains stationary and the surveying device 120 is moved, e.g., by a user. For example, the surveying device 120 is moved between a number of different attitudes 131, 132, 133 by movements shown generally by arrows 134, 135. The illustrated attitudes and movements are examples. Other attitudes and movements in the "fast move" operation are within the scope of various embodiments. As the surveying device 120 is moved, the tilt angle between each attitude and the vertical attitude 131 is determined by a suitable sensor, e.g., a gyroscope. For example, an angle 136 between the attitude 132 and the vertical attitude 131 is shown in FIG. 1C. This measured angle and the predetermined distance L between the indicator 128 and the sensor 124 allows the processor to correctly interpret and / or process the measurement data captured by the sensor 124, even though the sensor 124 is at a different location and / or altitude when the measurement data is captured. In some embodiments, the tilt angle associated with a particular attitude of the surveying device 120 is determined by comparing the measurement data associated with that attitude to a scene model. As a result of the "fast moving" operation, it is possible to obtain a larger amount of measurement data than when the surveying device 120 remains stationary, for example, due to the limited field of view of the sensor 124. The larger amount of measurement data increases the accuracy of the measurements in one or more embodiments. This is an advantage over other approaches where the survey rod must be vertical when making the measurements. In some embodiments, the indicator 128 can be placed at any point to be measured, including, but not limited to, the ground, floor, wall, ceiling, duct, etc. This is another advantage over other approaches where it is difficult, if not impossible, to perform measurements on walls or ceilings with a tripod-mounted total station.

[0051] FIG. 2 is a flowchart of a method 200 of operating a surveying device, according to some embodiments. In one or more embodiments, the surveying device used in the method 200 corresponds to one or more surveying devices described in connection with FIGS. 1A-1C. The method 200 includes operations for locating or locating the surveying device in a scene using measurement data (e.g., scanned or imaged measurement data) and then indicating a location in the physical space of the scene, according to one or more embodiments. An exemplary set of operations 202-213 for implementing this process are discussed in detail below. In some embodiments, some or all of the exemplary set of operations 202-213 correspond to computer-executable instructions stored in the memory 102 and / or the storage device 103 for execution by the CPU 104. In at least one embodiment, unless otherwise specified, the operations described with respect to FIG. 2 are implemented by at least one processor, such as, for example, one or more CPUs 104.

[0052] In operation 202, a scene model is received by a processor or computer system.

[0053] For example, the processor receives data describing the scene model through a data interface as described in connection with FIG. 1A. In some embodiments, the computer system receives a data set describing a set of measurements of one or more elements in the scene through the data interface. For example, in some embodiments, a data file including a set of one or more laser scans may be loaded into the computer system 100 through the network interface 112 and stored in the memory 102 and / or storage device 103 as shown in FIG. 1A. As another example, in some embodiments, an optical storage disk or another removable medium including photogrammetric measurements of a plant is placed in an optical disk drive or corresponding reader. In some embodiments, a set of point measurements of the scene (referred to in some embodiments as a "point cloud") is loaded into the memory 102 of the computing device 100 for processing as shown in FIG. 1A. In some embodiments, the scene model may be a CAD design model, a Building Information Modeling ("BIM") design, or a collected laser scanning data set previously depicting the as-built condition of a construction site (i.e., the scene). In some embodiments, for example, if no existing scene model is available, operation 202 is omitted. In this situation, the processor is configured to generate a scene model from the measurement data, as described in relation to operation 207.

[0054] In operation 203, a surveying device is placed at an initial point. In one example, the surveying device is brought to the scene to be surveyed, such as a construction site. An indicator, such as indicator 128, of the surveying device is placed at the initial point (or initial position). A point having a known location is referred to herein as a "control point." In at least one embodiment described herein, the initial point is a control point of a known location previously determined and marked in the scene, for example, by using a surveying instrument, such as a total station. In one or more embodiments, once the indicator is placed at the initial point, a total station is used to determine the location of the initial point by interacting, via a light beam, with one or more prisms rigidly mounted to the support of the surveying device, as described herein. The known location of the initial point is input to a processor or computer system for use in subsequent operations to generate (operation 207) or map / match (operation 206) a scene model. In at least one embodiment, the known location is an absolute location of the initial point relative to the surface of the Earth. In some embodiments, operation 203 of placing the surveying device at the initial point is performed before operation 202.

[0055] In operation 204, measurement data of a scene surrounding the surveying device and captured by a sensor of the surveying device is received by a processor or computer system.

[0056] For example, when the indicator is positioned at the initial point, a sensor of the surveying device, such as sensor 124, captures measurement data of the scene surrounding the surveying device. In some embodiments, when the sensor captures the measurement data, a "fast move" operation is performed. For example, the computer system prompts a user of the surveying device to perform a "fast move" operation, for example by a notification on a display or an audible notification. The measurement data captured by the sensor is transferred to a processor or computer system.

[0057] In some embodiments, the computer system receives direct measurements from a sensor, such as a scanning device, for example a laser scanner or LIDAR scanner. In further embodiments, the computer system receives calibrated images from an imaging device, such as a camera, which can be used to create measurements through the science of photogrammetry as will be understood by those skilled in the art. In further embodiments, the computer system receives both direct measurement data and image data. The computer system may be physically separate from the surveying device or may be incorporated into the surveying device. The computer system may also be implemented by being distributed across multiple components. The computer system may be implemented in a network cloud.

[0058] In operation 205, the processor determines whether a scene model exists. When a scene model corresponding to the scene exists ("YES" in operation 205), the processor proceeds to operation 206. When a scene model corresponding to the scene does not exist ("NO" in operation 205), the processor proceeds to operation 207.

[0059] In operation 206, the processor is configured to match (or map) the measurement data being captured by the sensor to an existing scene model received in operation 202 or generated in operation 207 as described herein. For example, the processor is configured to find or calculate a transformation that maps the measurement data to the scene model. Examples of transformations include linear and nonlinear transformations. Examples of linear transformations include, but are not limited to, rotation, translation, shear, scaling, etc. A linear transformation that includes only rotation and / or translation is referred to as a rigid body transformation. An example of a nonlinear transformation includes a data correction applied to correct distortion of raw data being captured by the sensor. For example, when the sensor is an imaging device such as a camera, the captured image may be distorted due to the camera's lens configuration, and a nonlinear transformation is applied to compensate for this image distortion. Other linear and nonlinear transformations are within the scope of various embodiments.

[0060] In an exemplary matching operation, a linear transformation required to match the measurement data of the scene with the scene model is calculated. In some embodiments, the location and angular pose (e.g., orientation) of the surveying device relative to the scene may not be known initially. However, the position and angular pose can be determined by finding a correspondence between the measurement data of the scene and an accurate scene model. If the measurement data is reasonably accurate and the scene model is a reasonably accurate representation of the scene, it is assumed that there exists a linear transformation (rotation, and / or translation, and / or scaling) that can transform the measurement data to closely match the geometry of the scene model. In some embodiments, this rotation / translation / scaling transformation that matches the measurement data with the scene is calculated. In some embodiments, this rotation / translation / scaling transformation is calculated by first finding a rough correspondence between distinct geometric features to obtain an initial sparse match, and then refining this match using an iterative closest point (ICP) algorithm, as will be appreciated by those skilled in the art.

[0061] In some embodiments, when the matching operation is performed based on measurement data captured at an initial point having a known location, the scene model is also associated with the known location of the initial point, and as a result, the scene model and a working coordinate system of the scene model are determined and can be used to locate the surveying device at further points in the scene.

[0062] In some embodiments, the user can provide, through a user interface, an approximate or estimated location of the surveying device (also referred to herein as a "seed location") to help guide this matching process. In some embodiments, this initial approximate location may be provided by the user selecting a location shown on a display, such as a touch screen. For example, a hotel scene model may have many nearly identical rooms, each of which may match well against measurement data from any other room. However, if the user provides an approximate location (e.g., "Room 221"), the matching process may be much more reliable. Further details of this matching process by computing a linear transformation are described in connection with FIG. 3. Other matching techniques are within the scope of various embodiments.

[0063] In operation 208, the processor is configured to determine a location of the surveying device relative to the scene model. In at least one embodiment, an orientation of the surveying device relative to the scene model is also determined. In some embodiments, the surveying device is localized relative to the working coordinate system of the scene model. The first time the surveying device is localized when brought to the scene is referred to herein as an "initial localization." In some embodiments, the processor uses the transformation calculated in operation 206 to determine a current location of the surveying device, i.e., the location of the indicator in the scene. In at least one embodiment, the transformation calculated in operation 206 also determines an orientation of the surveying device relative to the scene model. Further details of one example of this localization process are described in connection with FIG. 3. Other localization techniques are within the scope of various embodiments.

[0064] In operation 207, when an existing scene model is not available, a scene model is generated by the processor based on the measurement data that has been captured. In at least one embodiment, operation 207 is omitted when a scene model exists for the scene, for example, when a scene model was received as described in connection with operation 202, or when a scene model was generated by a previous execution of operation 207. After the scene model is generated, the process returns to operation 203, the surveying device is moved to a subsequent or new point in the scene, and then the process proceeds through operations 204, 206, 208, 210 as described herein.

[0065] In some embodiments, the processor is configured to generate a scene model based on measurement data captured by the surveying device's sensor at an initial point (e.g., by operation 207), and then update or build the scene model based on measurement data captured by the surveying device's sensor at one or more further points (e.g., by one or more iterations of operations 203, 204, 206, 208, 213). For example, after capturing measurement data at an initial point at a known location, the surveying device is moved, e.g., by a user, to a further point, and the sensor captures measurement data describing the scene from the further point. The two measurement data sets captured at the two points are fused together to build a scene model of the scene. When the described process is applied in the particular hotel example described herein, the surveying device performs multiple scans in multiple corresponding rooms to generate and build a scene model of the hotel.

[0066] In operation 210, the surveying device located in operation 208 is used for one or more further operations. Exemplary uses of the located surveying device include, but are not limited to, measurement, layout, etc. In the example of FIG. 2, operation 210 includes one or more of operation 211, operation 212, and operation 213.

[0067] In operation 211, the located surveying device is used to make a measurement at the point where the indicator of the surveying device is currently located. In some embodiments, the location, e.g., the 3D location, of the indicator calculated in operation 208 in the working coordinate system of the scene model is output, reported and / or displayed to a user. In some embodiments, the 3D coordinates of the indicator are displayed on a screen of the surveying device itself. In further embodiments, the 3D coordinates are displayed on a device or computer system connected to the surveying device by wire or wirelessly. In further embodiments, the 3D coordinates are stored and displayed for output at a later time.

[0068] In operation 212, the located surveying device is used to perform a layout task. When the surveying device is being used for layout, in some embodiments, the surveying device receives one or more layout coordinates of one or more layout points from the design model to be laid out. Examples of layout points are important construction points such as bolt locations, pipe connections, wall corners, points on the floor, points on the wall, points on the ceiling, etc. In some embodiments, the layout coordinates are in a working coordinate system of the scene model in which the surveying device is located. The layout coordinates are automatically loaded into the processor or computer system or manually entered by a user. An operation is then performed to calculate a distance and direction from the current location of the indicator as determined by operation 208 to the layout coordinates. In some embodiments, the current location of the indicator is determined based on the location of the surveying device and a known or determinable spatial relationship between the sensor and the indicator. For example, if the layout coordinate is at (10m, 10m, 10m) in the XYZ coordinates of the work coordinate system of the scene model, and the location of the indicator from operation 208 is at (10.4m, 10.3m, 10m) in the XYZ coordinates of the same work coordinate system, then with a vector of (-0.4m, -0.3m, 0m), the distance is calculated as 0.5m (i.e., the Cartesian distance between the layout coordinates and the indicator coordinates), and the direction is in the negative X and negative Y directions, as will be readily understood by those skilled in the art. After the distance and direction from the indicator location to the layout coordinates are calculated, the calculated distance and direction are reported so that the user can move the indicator to the layout point. In the above example where the layout point was 0.5m away in the negative X and Y directions, the calculated distance and direction are reported to the user to facilitate the user to move the indicator in the correct direction and ultimately position the indicator to the layout point, where the user can then place a mark on the surface for a subsequent construction task.In some embodiments, the report may be a directional arrow displayed on the screen along with the distance to move. In some embodiments, the direction and distance displayed to the user may be updated rapidly as the surveying device is moved to reflect real-time instructions on how to move the indicator to the layout point. The described update of the direction and distance to the layout point includes repeatedly performing operations 203, 204, 206, 208 as described herein. In some embodiments, the report may include audible instructions and / or other types of instructions to guide the user to move the indicator to the layout point. In some embodiments, a visual or audible confirmation is generated when the indicator reaches the layout point. The described direction and distance from the indicator location to the layout coordinate constitute one example of output of the spatial relationship between the indicator location and the layout coordinate to guide the user to the layout coordinate. In another example, the spatial relationship between the indicator location and the layout coordinate is output by displaying a map of a section of the scene model and showing the indicator location and the layout coordinate on the displayed map.

[0069] In operation 213, the scene model received in operation 202 or generated in operation 207 is updated based on the measurement data captured at the current point. For example, at least a portion of the measurement data captured at the current point that represents an element or feature of the scene not yet included in the scene model is added to the scene model. As another example, an element or feature of the scene that is currently included in the scene model but appears inaccurate in light of the currently captured measurement data is removed from the scene model or corrected to match the measurement data. The updated scene model is used for matching (operation 206), locating (operation 208) and using (operation 210) the surveying device at a subsequent point (or position) of the scene.

[0070] When the user has completed using the located surveying device at the current point, the process returns to operation 203, i.e., the user moves the surveying device to a subsequent or new point of the scene. The process then proceeds to operation 204 of capturing new measurement data at the new point, then operation 206 of matching the new measurement data with the same working coordinate system of the scene model previously mapped at the initial point, then operation 208 of updating the location of the surveying device at the new point, then operation 210 of using the located surveying device at the new point to measure and / or lay out and / or update the scene model, as described herein. Operations 203, 204, 206, 208, 210 are repeatedly performed at various points of the scene in order to repeatedly update the location of the surveying device, i.e., to locate the surveying device at those points and use the located surveying device to measure and / or lay out and / or update the scene model at those points. In some embodiments, while being used in a scene, the surveying device is always located within the same corresponding scene model describing the scene. As a result, in one or more embodiments, cumulative errors as in other approaches can be avoided.

[0071] FIG. 3 is a schematic diagram of a surveying device in operation, according to some embodiments. In the exemplary configuration of FIG. 3, the surveying device used is the surveying device 120 described in connection with FIG. 1B. Other surveying device configurations are within the scope of various embodiments. For simplicity, FIG. 3 illustrates in two dimensions (2D) how the surveying device 120 positions itself by matching measurements that its data sensor 124 (not shown in FIG. 3) captures from the surrounding scene with a pre-existing scene model to calculate the current location and orientation of the surveying device 120 within the scene. Although the operations and / or calculations described in connection with FIG. 3 are shown in two dimensions, they can be easily adapted to three dimensions (3D), as will be apparent to those skilled in the art.

[0072] As described in connection with operation 202 of FIG. 2, a processor or computer system included in or coupled to the surveying device 120 receives a pre-existing scene model 300. In the exemplary configuration of FIG. 3, the scene model 300 is a floor plan of a room. The room is a scene in which the surveying device 120 is being used for a surveying task. Other scene model configurations and / or scene types are within the scope of various embodiments. In some embodiments, the scene model 300 includes coordinates in a working coordinate system 302 (also referred to herein as "coordinate system 302"). In the exemplary configuration of FIG. 3, the coordinate system 302 is a Cartesian coordinate system having an X-axis, a Y-axis, and an origin 303 having coordinates (0,0). Other types of coordinate systems are within the scope of various embodiments. The coordinate system 302 may be the same as or different from a pre-defined coordinate system that describes the scene model 300 when it is generated (e.g., in operation 207) or loaded (operation 202).

[0073] As described in relation to operation 204 of FIG. 2, the processor or computer system further receives measurement data captured by the sensor 124 of the surveying device 120 located at an initial point 304 inside the room (i.e., the scene). In FIG. 3, the reference number 304 generally refers to the top of the surveying device 120 where the sensor 124 is located, but the initial point 304 is actually where the indicator 128 of the surveying device 120 is located in the scene. However, since the sensor 124 and the indicator 128 have a predetermined or determinable spatial relationship as described in relation to FIG. 1B, the location of the indicator 128 can be calculated from the location of the sensor 124 and vice versa. Thus, when the location of one of the indicator 128 and the sensor 124 is known, the location of the other of the indicator 128 and the sensor 124 is also known. For simplicity, in the description herein, the location of the sensor 124 and the location of the indicator 128 can be considered to be the same.

[0074] Before the surveying device 120 is located, the point 304 originally has an unknown location and an unknown orientation (indicated by arrow 306) relative to the coordinate system 302 of the scene model 300. In general, the orientation is three-dimensional (3D) and is defined by a combination of the tilt angle 136 of the surveying device 120 as described in connection with FIG. 1C and the direction in which the surveying device 120 is pointing as represented by arrow 306. In the exemplary configuration of FIG. 3, for simplicity, it is assumed that the surveying device 120 is in a vertical attitude 131, making the orientation two-dimensional (2D) and represented by arrow 306. In FIG. 3, the location of the point 304 is estimated to be (0,0) in the coordinate system X'-Y' of the surveying device 120, i.e., the coordinate origin, and the orientation of the surveying device 120 is estimated to be in the positive direction of the X' axis in the coordinate system X'-Y' of the surveying device 120. Other estimated locations and / or orientations of the initial point are within the scope of various embodiments. The coordinate system X'-Y' is an example of a working coordinate system for measurement data and / or an example of a working coordinate system at point 304. Note that the location and orientation of the surveying device 120 at point 304 is originally unknown in the coordinate system 302 of the scene model 300, but in at least one embodiment, at least the location of point 304 is known as point 304 is a control point with a known location. The sensor 124 of the surveying device 120 scans the scene and collects measurement data 308.

[0075] As described in connection with operation 206 of FIG. 2 , the processor or computer system is configured to match, i.e., align and fit, the measurement data 308 to the scene model 300. In other words, the space of the measurement data 308 is mapped or matched to the space of the scene model 300. In some embodiments, such mapping or matching is performed using a working coordinate system of the measurement data 308 and a working coordinate system of the scene model 300, without being limited to any particular selection or type of working coordinate system. Thus, in at least one embodiment, the working coordinate system of the measurement data 308, e.g., coordinate system X′-Y′, may be any coordinate system that can be used to describe the measurement data 308, and / or the working coordinate system of the scene model 300, e.g., coordinate system 302, may be any coordinate system that can be used to describe the scene model 300. Exemplary algorithms for matching the measurement data 308 to the scene model 300 include, but are not limited to, a “cloud-to-cloud” (C2C) algorithm, a “cloud-to-model” (C2M) algorithm, and the like. In some embodiments, this matching and fitting may be performed using an automated algorithm, such as an iterative closest point (ICP) algorithm. An exemplary ICP algorithm is described in "Object Modelling by Registration of Multiple Range Image," Yang Chen and Gerard Medioni, Proceedings of the 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA, April 1991, which is incorporated herein by reference in its entirety. In some embodiments, "feature points" (i.e., points of high curvature in the region) can be calculated from the measurement data 308 and compared to "feature points" in the scene model 300, and a transformation 310 can be calculated that optimizes the overlap between the two sets of feature points. In some embodiments, the transformation 310 includes at least one of a nonlinear transformation, a rotation, a translation, a shear, or a scaling.In some embodiments, a combination of techniques or algorithms may be utilized to find an optimal transformation 310 for matching and fitting the measurement data 308 to the scene model 300. In the particular example described in connection with Figure 3, the transformation 310 is a rigid transformation including rotation and / or translation. The exemplary configuration of Figure 3 includes a simplified situation in which the orientation 306 is 2D and therefore the transformation 310 is also 2D. In some embodiments in which the orientation is 3D, the transformation 310 is a 3D transformation.

[0076] As described in connection with operation 208 of FIG. 2, the processor or computer system is configured to determine the location and orientation of the surveying device 120 in the coordinate system 302 of the scene model 300 that is aligned and fitted to the measurement data 308. For example, FIG. 3 shows that the surveying device 120 is located in the scene by using the same transformation 310 that was used to fit the measurement data 308 to the scene model 300 and applying the transformation 310 to the initial location and orientation of the surveying device 120. The located surveying device 120, which is located at point 304, is determined to have a location of coordinates (X1, Y1) in the coordinate system 302 of the scene model 300. The orientation 306 of the working coordinate system X'-Y' that describes the measurement data 308 is mapped to an orientation 312 in the coordinate system 302 of the scene model 300. Once the surveying device 120 is located, any measurements taken by the surveying device 120 may itself be located and any feature points from the design model may be laid out in the same coordinate system 302. In some embodiments, when the point 304 is a control point with a known location, the coordinate system 302 associated with the point 304 also has a known location and orientation. In some embodiments, the coordinate system 302 does not change and forms a base map for tracking and locating the surveying device 120 throughout its orientations in the scene.

[0077] As described in connection with operation 203 of FIG. 2, in some embodiments, when the surveying device 120 is moved to a new point in the scene, one or more of the above-mentioned orientations are implemented at the new point. For example, as described in connection with measurement data 308, a new measurement data set is captured by the sensor 124 at the new point. As described in connection with transformation 310, a new transformation is calculated to match and fit the new measurement data set to the scene model 300. A location and orientation of the surveying device 120 at the new point is determined based on the new transformation to locate the surveying device 120 at the new point. This process is repeated at subsequent points as the surveying device 120 is moved across the scene. An example of this process is described in connection with FIG. 4.

[0078] Figure 4 is a schematic diagram of a surveying device in operation, according to some embodiments. In the exemplary configuration of Figure 4, the surveying device used is the surveying device 120 described in relation to Figure 1B. Other surveying device configurations are within the scope of various embodiments. In Figure 4, the surveying device 120 is shown diagrammatically with a physical indicator 128 at the tip of a support 126 (not shown in Figure 4) of the surveying device 120. For simplicity, the reference numbers 120, 128 are shown only at the time T0 and are omitted at the other times T1-T3.

[0079] In the exemplary configuration of Figure 4, the sensor 124 (not shown in Figure 4) of the survey device 120 includes a LIDAR scanner. In the exemplary configuration specifically described below in connection with Figure 4, the mapping of measurement data captured by the LIDAR scanner to a scene model is referred to as "C2M matching." However, other mapping or matching techniques / algorithms are within the scope of various embodiments.

[0080] In FIG. 4, at time T0, the surveying device 120 is at an initial position indicated by the indicator 128. The location of the surveying device 120 at time T0 is either known (when the initial point is a control point) or determined by a previous LIDAR scan and C2M matching to a scene model, as described in relation to FIG. 2-FIG. 3. The surveying device 120 is then moved to the next point to be measured or laid out. For example, after moving along a path 401 from the initial position, at time T1, the surveying device 120 locates itself by capturing LIDAR measurement data and performing C2M matching of the captured LIDAR measurement data to the same scene model at time T0. As a result, the surveying device 120 determines that its location at time T1 is location 404. Similarly, after moving along the path 411 from the location 404, at a time T2, the survey device 120 locates itself by capturing LIDAR measurement data and performing C2M matching of the captured LIDAR measurement data against the same scene model at the time T0, and determines that its location at the time T2 is the location 412. The described process is further repeated. The specific matching techniques and / or sensor types, such as C2M, LIDAR, described in connection with FIG. 4, are examples. Other matching techniques and / or sensor types are within the scope of various embodiments. All locations of the survey device 120 during the process described in connection with FIG. 4 are within the coordinate system 302 of the scene model. However, as described herein, in one or more embodiments, any other working coordinate system can be used instead of the coordinate system 302.

[0081] In the exemplary process described in connection with FIG. 4, the surveying device 120 locates itself at a first point (e.g., 404) and then locates at a second point (e.g., 412) along a path (e.g., 411). In some embodiments, the location and orientation of the surveying device 120 is tracked by one or more sensors (e.g., IMU) of the surveying device 120 while the surveying device 120 moves from the first point to the second point. When the surveying device 120 reaches the second point, the tracked location and / or orientation of the surveying device 120 is used as an estimate or seed position to facilitate and / or accelerate the calculation of a transformation used for locating at the second point. As a result, the accuracy and / or speed of the locating process is improved. An example of this process is described in connection with FIG. 5.

[0082] Figure 5 is a schematic diagram of a surveying device in operation, according to some embodiments. In the exemplary configuration of Figure 5, the surveying device used is the surveying device 120 described in relation to Figure 1B. Other surveying device configurations are within the scope of various embodiments. In Figure 5, the surveying device 120 is shown diagrammatically with the physical indicator 128 at the tip of the support 126 (not shown in Figure 5) of the surveying device 120. For simplicity, the reference numbers 120, 128 are only shown at the timing T50 and are omitted at the other timings T51-T53.

[0083] In the exemplary configuration of FIG. 5, the sensors 124 (not shown in FIG. 5) of the surveying device 120 include a LIDAR scanner and at least one IMU device. In some embodiments, the estimates from the IMU device and the mapping of measurement data captured by the LIDAR scanner to a scene model are both used to locate the surveying device 120 such that these techniques complement each other. In the exemplary configuration specifically described below in conjunction with FIG. 5, the mapping of measurement data captured by the LIDAR scanner to a scene model is referred to as "C2M matching". However, other mapping or matching techniques / algorithms are within the scope of various embodiments.

[0084] Specifically, an IMU device is an electronic device that can measure forces (or accelerations) acting on an instrument very accurately. An IMU device can measure linear acceleration along three axes and rotational acceleration about three principal axes. By accumulating these readings over time, an IMU device can track the location and orientation of an instrument, such as the surveying device 120, by using dead reckoning. In an exemplary configuration, an IMU device outputs rapid measurements (often up to 1000 measurements per second), allowing virtually instantaneous tracking / positioning at all times. Dead reckoning from the three measurements is typically very accurate over a short period of time. An IMU device can be accurate with little instantaneous error, but over time the errors can accumulate substantially. As a simple example, if an IMU device drifts ½ inch per second, after one minute the accumulated error (also referred to as “drift”) can be 30 inches, i.e. the dead reckoning from the IMU device indicates a location 30 inches away from the instrument's actual location.

[0085] LIDAR scanning is highly accurate when successfully matched to a base map or scene model. For example, when measurement data captured by a LIDAR scanner is successfully matched to an existing base map or scene model, for example, by using cloud-to-model (C2M) matching techniques, it is possible to locate the device within 1-3 millimeters of the device's actual location. However, if the C2M fails to find a match, or if the C2M finds a mismatch between the scan data (i.e., measurement data) and the base map, the error may become unacceptably large. Another consideration is that the matching process is slower than IMU dead reckoning and may take several seconds to find a match in some circumstances.

[0086] In some embodiments, the IMU device and the LIDAR scanner are used together to eliminate the mentioned considerations. In particular, it has been pointed out that very large errors caused by inaccurate matching of LIDAR measurement data to a base map are often caused by a bad initial estimate (or seed position) of the equipment's location. If a relatively accurate initial estimate or seed position (e.g., within one meter in at least one embodiment) is available, the risk of a bad match is nearly zero. In some embodiments, the dead reckoning provided by the IMU device is used to continuously track the location and orientation of the equipment (i.e., the survey device 120), and the tracked location and orientation of the equipment are then periodically updated with much more accurate readings from the LIDAR scanner. The dead reckoning from the IMU device provides a close initial estimate for the C2M matching calculation, preventing or greatly reducing the possibility of large errors due to inaccurate matching of LIDAR measurement data to a base map or scene model. The regular updates with the LIDAR measurement data and C2M matching prevent errors or "drift" from the IMU device from accumulating significantly.

[0087] In the example of FIG. 5, at time T50, the surveying device 120 is at an initial position indicated by the indicator 128. The location of the surveying device 120 at time T50 is either known (when the initial position is a control point) or determined by a previous LIDAR scan and C2M matching to a scene model, as described in connection with FIGs. 2-3. The surveying device 120 is then moved to the next point to be measured or laid out. While the surveying device 120 is being moved, the IMU device rapidly updates the location and orientation of the surveying device 120 to track the movement of the surveying device 120. The tracked location of the surveying device 120 as reported by the dead reckoning of the IMU device is shown diagrammatically by paths 501, 511, 521. The first interval in which the IMU device updates the location and orientation of the surveying device 120 is short. For example, the IMU device outputs 100-1000 measurements per second, and the first interval at which the IMU device updates the location and orientation of the surveying device 120 is 1-10 ms. The measurement data output by the LIDAR scanner at a second interval ΔT, which is greater than the first interval of updates by the IMU device, is periodically used for C2M matching with the same base map or scene model at time T50. For example, the LIDAR scanner completes 10-20 rotations per second, and a "frame" is created from each completed rotation, and the trajectory is updated at a second interval of 50 ms-100 ms. In the exemplary configuration of FIG. 5, all locations of the surveying device 120 during the process described in connection with FIG. 5 are within the coordinate system 302 of the scene model. As described herein, in one or more embodiments, any other working coordinate system can be used instead of the coordinate system 302.

[0088] For example, at time T51=T50+ΔT, a location 502 estimated at time T51 based on dead reckoning from an IMU device is used as a seed position for C2M matching of LIDAR measurement data captured at time T51 against the same scene model at time T50. As described herein, the dead reckoning from the IMU device provides a sufficiently close seed position for C2M matching. As a result, a match is found and a more accurate location 504 of the survey device 120 at time T51 is indicated. The location 502 estimated by the IMU device is updated to be the location 504 determined by the C2M matching of the LIDAR measurement data against the scene model, as shown at 506. The location 504 is then used by the IMU device instead of the location 502 for further tracking of the survey device 120.

[0089] At time T52=T51+ΔT, a location 512 estimated at time T52 based on dead reckoning from the IMU device is used as a seed position for C2M matching of the LIDAR measurement data captured at time T52 against the same scene model at time T50. A match is found, indicating a more accurate location 514 of the survey device 120 at time T52. The location 512 estimated by the IMU device is updated to be the location 514 determined by the C2M matching of the LIDAR measurement data against the scene model, as shown at 516. The location 514 is then used by the IMU device instead of the location 512 for further tracking of the survey device 120.

[0090] At time T53=T2+ΔT, the location 522 estimated at time T53 based on dead reckoning from the IMU device is used as a seed position for C2M matching of the LIDAR measurement data captured at time T53 against the same scene model at time T50. A match is found, indicating a more accurate location 524 of the survey device 120 at time T53. The location 522 estimated by the IMU device is updated to be the location 524 determined by the C2M matching of the LIDAR measurement data against the scene model, as shown at 526. The location 524 is then used by the IMU device to further track the survey device 120 instead of the location 522. The described process is further repeated periodically. The specific matching techniques and / or sensor types, such as C2M, LIDAR, IMU, etc. described in connection with FIG. 5 are examples. Other matching techniques and / or sensor types are within the scope of various embodiments.

[0091] Various embodiments of a surveying device and a method for locating the surveying device, particularly within a construction site, and using the located surveying device to measure and / or lay out and / or update a scene model within a working coordinate system are described. The surveying device includes a sensor that captures dimensionally accurate measurements of the surrounding environment (e.g., the scene) and compares the data against a scene model of the environment to precisely locate itself for further operations. The located surveying device may be used to both measure points on the construction site and lay out design points (i.e., marking design points on the ground or other surface) so that items such as bolts, pipes, etc. can be installed in their appropriate design locations. In at least one embodiment, the method includes receiving measurement data from a laser scanner or the like, matching the data with a virtual model of the scene (scene model), calculating a linear transformation required to fit the measurement data of the scene to the scene model, and using the linear transformation to calculate the location and orientation of the self-locating device. The method further includes reporting a 3D location of an indicator of the surveying device. If the system is being used for layout and the indicator is a physical pointer, the method further includes calculating the distance and direction from the current location of the indicator to the layout point coordinates and then reporting the distance and direction to enable the user to move the indicator to the correct location. The result is a self-locating surveying device, a method and a system for using such a surveying device to easily and accurately measure three-dimensional points on a construction site. The self-locating device may be any type of device, such as a measuring instrument, a layout instrument, etc.

[0092] In some embodiments, the self-locating device includes one or more prisms that are rigidly attached to a support for the device, so that the device can be located through other surveying techniques, such as determining the location of the device using a total station.

[0093] In some embodiments, a scene model is created using a scanning or imaging sensor attached to the self-locating device. The scene model so created can be placed in the working coordinate system by using standard surveying techniques such as setting the self-locating device over a known point, or by using a total station to locate the self-locating device as it captures the measurement data to create the scene model. The scene model so captured at the start of planning can then be used as a base map or scene model relative to which to locate the self-locating device as the device is moved to different points on the site.

[0094] Some embodiments include receiving measurement data of the surrounding scene from a scanning device that is rigidly attached to the self-locating device. Some embodiments include receiving measurement data of the surrounding scene from an imaging device that is rigidly attached to the self-locating device. Some embodiments include receiving measurement data of the surrounding scene from both a scanning device and an imaging device that are both rigidly attached to the self-locating device. Some embodiments receive the measurement data through a data interface. In some embodiments, the measurement data includes a 360 degree view of everything visible and surrounding the self-locating device. This is achievable by the "fast move" operation of the self-locating device, despite the limited field of view of the scanning device (e.g., limited elevation and / or limited azimuth), according to at least one embodiment. The measurement data is compared to the scene model to find a match and to position the self-locating device within the scene model.

[0095] Some embodiments include computing a linear transformation required to fit the measured data of the scene to the scene model. If the scene model accurately represents the scene, a match of the measured data to the scene model should be possible to find by translating the measured data in one or more of three Euclidean distances and / or rotating the measured data about one or more of three orthogonal axes and / or homogeneously linearly scaling the measured data. Some embodiments include computing this linear transformation in two dimensions (2D). In some embodiments, a non-linear transformation is calculated to fit the measured data of the scene to the scene model.

[0096] Some embodiments include calculating the location and orientation of the self-locating device. The location of the self-locating device relative to its measurement data is known because the measurement data comes from one or more sensors that are rigidly fixed or attached to the self-locating device or have a known or determinable spatial relationship to the self-locating device. Thus, the same mapping or transformation that fits the measurement data to the scene model can be used to map or transform the location and orientation of the self-locating device itself into the working coordinate system of the scene model.

[0097] In some embodiments, when a self-locating device is used for measurement, the 3D (or 2D) location of the self-locating device's indicator may be reported.

[0098] In some embodiments, if the system is being used for layout and the indicator is a physical pointer, the distance and direction from the indicator's current location to the coordinates of the layout point may be calculated and reported (i.e., displayed or otherwise communicated to the user / worker). The reported distance and direction allows the user to move the indicator to the location of the layout point. In this manner, the system can guide the user to place the indicator in the correct location to mark the layout point. For example, if a design requires a hole to be drilled in a floor or wall at a particular coordinate, the system provides guidance and guidance to the user to precisely place an indicator, such as a physical pointer, at that coordinate, where the user can then create a mark on the floor or wall where the hole will later be drilled.

[0099] In some embodiments, the self-locating device can be used regardless of whether or not the control points and / or the scene model are present. Specifically, the self-locating device can be used in a first situation where the control points and the scene model are present, a second situation where the control points are present but the scene model is not present, a third situation where the control points are not present but the scene model is present, and a fourth situation where the control points and the scene model are not present. In the first and second situations where the control points are present, the control points may be initial points where the self-locating device is initially placed when the self-locating device is brought into the scene. A scene model that corresponds to the scene, either pre-existing (in the first situation) or generated for the scene (in the second situation), is associated with the known location of the control points and also has a corresponding known location. In at least one embodiment, the known location of the control points is an absolute location relative to the ground, and the pre-existing or generated scene model has a corresponding absolute location relative to the ground. In some embodiments, two or more control points of two different known absolute locations are provided in the scene, and a self-locating device sequentially placed on two of the more control points provides a reference frame for determining the absolute orientation of the scene model relative to the Earth's surface. In the third and fourth situations where no control points exist, the self-locating device can still be used to locate, measure, lay out, and / or generate / update the scene model, but the scene model may not have an absolute location and / or an absolute orientation.

[0100] In some embodiments, at least one, or some, or all of the operations of the described methods are implemented as a set of instructions stored on a non-transitory medium for execution by a computer system, hardware, firmware, or combinations thereof. In some embodiments, at least one, or some, or all of the operations of the described methods are implemented as hardwired circuitry, such as, for example, one or more ASICs.

[0101] Accurately measuring locations and laying out locations on a construction site is a critical task, but is often time consuming and / or prone to error. In some embodiments, a self-locating device can easily and accurately locate itself, allowing workers to more easily measure and / or lay out construction design locations, saving both time and money.

[0102] In some embodiments, the described process for localization and subsequent measurement and layout by using a self-locating device is fully automated. As a result, the process is faster than traditional survey-based localization. In one or more embodiments, localization can be performed in real time using a rapid acquisition sensor such as a Velodyne LIDAR system.

[0103] In at least one embodiment, once a self-locating device has been initially located and mapped to a base map, for example by a total station, the total station is no longer needed since the self-locating device can track itself against the base map. In some embodiments, a total station is not needed at all, even for the initial location. As a result, various limitations associated with other surveying techniques using total stations can be removed.

[0104] For example, after an initial position determination, the self-locating device no longer needs to be within line of sight of the total station, thereby increasing flexibility and productivity.

[0105] Furthermore, after initial localization, multiple self-locating devices can be used simultaneously, independently of each other and independent of the total station, to survey the same site or scene. This reduces survey time and increases productivity. For example, multiple self-locating devices all share the same scene model corresponding to the site or scene, or are all initially located within the same scene model. After initial localization, multiple self-locating devices can be used simultaneously and independently of each other to perform measurements, layouts, and / or updates to the scene model. In some embodiments, measurements and / or scene model updates generated by multiple self-locating devices are fused together and / or shared among multiple self-locating devices, for example, by a network or cloud server and / or by peer-to-peer connections between multiple self-locating devices.

[0106] In at least one embodiment, it is possible to automatically compensate for the inclination of the rod or support of the self-locating device, for example, by using an automatically measured inclination angle and a known distance between the indicator and the sensor, as described in connection with FIG. 1B. As a result, no leveling is required as in other approaches. The automated inclination compensation and / or automated location process eliminates the need for highly skilled surveyors. In some embodiments, the self-locating device can be operated as easily as operating a GPS device or a GPS function on a smartphone or tablet.

[0107] Total stations are known to be difficult to operate indoors and unstable on uneven ground. In contrast, the self-locating device according to some embodiments works well in all environments, indoors and outdoors, and is capable of measuring and / or laying out in places that are known to be difficult to measure or lay out with a total station, such as walls or ceilings.

[0108] In some embodiments, the initial localization is performed by placing an indicator of the self-locating device at a control point at a known absolute location relative to the Earth's surface. In such embodiments, the location of the scene model after the initial localization has absolute coordinates relative to the Earth's surface. Subsequent locations or measurements of the self-locating device in the working coordinate system of the scene model also have absolute coordinates relative to the Earth's surface, thereby providing additional information and / or accuracy.

[0109] In at least one embodiment, the self-locating device comprises at least one LIDAR scanner and one or more IMU devices, all rigidly attached to a support, such as a rod. In a full system configuration, the self-locating device further comprises at least one processor and a display, all supported on the support. As a result, the calculations and reporting can be performed by the self-locating device itself, without the need for an external computer system. In some embodiments, an external computer system, such as a portable device, such as a smartphone, tablet or laptop, is coupled to the self-locating device to perform some or all of the calculations and reporting. In at least one embodiment, the self-locating device includes a portable device equipped with one or more sensors configured to capture the required measurement data, the portable device being removably but rigidly attached to a support, such as a rod, having a physical indicator, such as the tip of the rod. In some embodiments, various components of the self-locating device, such as one or more sensors, a display, one or more prisms, etc., are removably attachable to each other and to the support, thereby increasing the customizability of the entire system.

[0110] It should be noted that this description is not an exhaustive list of embodiments, and additional embodiments are possible, for example, combinations of the embodiments described herein, or portions of the embodiments described herein, may be combined to produce additional embodiments.

[0111] The described methods include exemplary operations, which need not necessarily be performed in the order presented. Operations may be added, substituted, reordered, and / or eliminated as desired in accordance with the spirit and scope of the embodiments of the present disclosure. Embodiments combining different features and / or different embodiments are within the scope of the present disclosure and will become apparent to those of ordinary skill in the art after reviewing the present disclosure.

[0112] In some embodiments, the system comprises a surveying device and at least one processor. The surveying device comprises a support and a sensor attached to the support. The sensor is configured to capture measurement data. The at least one processor is coupled to the sensor to receive the measurement data. The at least one processor is configured to obtain a scene model corresponding to an initial set of measurement data captured by the sensor when the support is positioned at an initial position in the scene, determine a location of the surveying device relative to the scene model based on the initial set of measurement data and the scene model, and update the location of the surveying device relative to the scene model based on a subsequent set of measurement data captured by the sensor when the support is positioned at a corresponding subsequent position.

[0113] In some embodiments, a method of surveying a scene includes placing an indicator that is part of a support for a surveying device at an initial position, capturing measurement data of the scene by a sensor attached to the support, obtaining a scene model corresponding to the measurement data captured when the indicator is in the initial position, and positioning the surveying device relative to the scene model as the surveying device moves around the scene.

[0114] In some embodiments, a surveying device includes a rod having a physical indicator, a Light Detection and Ranging (LIDAR) scanner rigidly attached to the rod and having a predetermined spatial relationship with the physical indicator, and at least one of a processor or a data interface. The processor is supported by the rod and coupled to the LIDAR scanner. The data interface is supported by the rod and configured to couple the LIDAR scanner to an external processor. At least one of the processor or the external processor is configured to localize the surveying device relative to a scene model corresponding to measurement data captured by the LIDAR scanner.

[0115] The above outlines some of the features of the embodiments to allow those skilled in the art to better understand the aspects of the present disclosure. Those skilled in the art will appreciate that they can easily use the present disclosure as a basis for designing or modifying other processes and structures to carry out the same purpose and / or achieve the same advantages of the embodiments introduced herein. Those skilled in the art will also recognize that such equivalent constructions do not depart from the spirit and scope of the present disclosure, and that various changes, substitutions, and alterations can be made without departing from the spirit and scope of the present disclosure.

Claims

1. 1. A system comprising: a surveying device comprising a support and a sensor mounted on the support, the sensor being configured to capture measurement data; at least one processor coupled to the sensor to receive the measurement data; The at least one processor obtaining a scene model corresponding to an initial set of measurement data captured by the sensor when the support is located in an initial position; determining a location of the surveying device relative to the scene model based on the initial set of measurement data and the scene model; The location of the surveying device relative to the scene model is configured to update based on subsequent sets of the measurement data captured by the sensor when the support is located in corresponding subsequent positions.

2. 2. The system of claim 1, The at least one processor receiving the scene model; calculating a transformation to fit at least one of (i) the initial set or (ii) at least one of the subsequent sets of said measurement data to said scene model; The transformation is configured to apply the transformation to calculate the location of the surveying device relative to the scene model corresponding to at least one of (i) the initial set or (ii) at least one of the subsequent set.

3. 3. The system of claim 2, The transformation includes at least one of a non-linear transformation, a translation, a rotation, a scaling, or a shear.

4. 2. The system of claim 1, The at least one processor is configured to generate the scene model based on the initial set of measurement data captured by the sensor when the support is located at the initial position.

5. 2. The system of claim 1, At least one of (i) the initial position or (ii) at least one of the subsequent positions has a known location.

6. 2. The system of claim 1, The at least one processor is configured to update the scene model based on the measurement data.

7. 2. The system of claim 1, the support includes an indicator configured to be positioned at the initial position and at the subsequent position; the sensor and the indicator have a known or determinable spatial relationship; The at least one processor is configured to determine the location of the surveying device relative to the scene model based on the measurement data and the spatial relationship between the sensor and the indicator.

8. 8. The system of claim 7, The at least one processor determining a current position of the indicator based on the location of the surveying device and the known or determinable spatial relationship between the sensor and the indicator; obtaining locations of layout points where construction operations are to be performed; and configured to determine and output a spatial relationship between the current position of the indicator and the layout point to guide a worker to mark the layout point for subsequent construction work.

9. 8. The system of claim 7, the support is a rod; the indicator is on an end of the rod; The surveying device is the at least one processor supported by the rod; a display supported by the rod and configured to display the location of the surveying device relative to the scene model; a further sensor supported by the rod and configured to track the location of the surveying device by using dead reckoning; or At least one of the prisms is supported by the rod and configured to communicate with a total station.

10. 8. The system of claim 7, the support is a rod; the indicator is on an end of the rod; the sensor includes a light detection and ranging (LIDAR) scanner; The surveying device further comprises an inertial measurement unit (IMU) supported by the rod, coupled to the at least one processor and configured to track the location of the surveying device by using dead reckoning.

11. 1. A method of surveying a scene, the method comprising: Placing an indicator that is part of a support for the surveying device in an initial position; capturing measurement data of the scene by a sensor attached to the support; obtaining a scene model corresponding to the measurement data captured when the indicator is in the initial position; and positioning the surveying device relative to the scene model as the surveying device moves around the scene.

12. 12. The method of claim 11, In the capturing of the measurement data, the measurement data is captured as the support and the sensor are moved while the indicator remains stationary.

13. 12. The method of claim 11, the initial position has been previously marked in the scene; or The location of the initial position is determined by a further surveying instrument interacting with the surveying device with the indicator being positioned at the initial position.

14. 12. The method of claim 11, The obtaining of the scene model includes: receiving the scene model; mapping the measurement data captured when the indicator is in the initial position onto the received scene model; The locating includes determining a location of the surveying device relative to the scene model based on the mapping.

15. 12. The method of claim 11, Obtaining the scene model includes generating the scene model based on an initial set of measurement data captured by the sensor when the support is located at the initial position.

16. 12. The method of claim 11, obtaining locations of layout points where construction operations are to be performed; and determining and displaying a spatial relationship between the current position of the indicator and the layout point to guide a worker to mark the layout point for later construction work.

17. 12. The method of claim 11, In the capturing of the measurement data, the measurement data is generated using at least one of laser scanning, image capture, or echolocation.

18. 12. The method of claim 11, periodically capturing, at first intervals and by a further sensor mounted on said support, information indicative of the location of said surveying device as it moves about across said scene; periodically capturing the measurement data by the sensor at a second interval greater than the first interval; Updating the location of the surveying device by matching the measurement data periodically captured by the sensor with the scene model, the matching further comprising using the information periodically captured by the further sensor as an estimate of the location of the surveying device.

19. 1. A surveying device, comprising: A rod having a physical indicator; a light detection and ranging (LIDAR) scanner rigidly attached to the rod and having a predetermined spatial relationship with the physical indicator; a processor supported by the rod and coupled to the LIDAR scanner; or at least one of a data interface supported by the rod and configured to couple the LIDAR scanner to an external processor; At least one of the processor or the external processor is configured to localize the surveying device relative to a scene model that corresponds to measurement data captured by the LIDAR scanner.

20. 20. A surveying device according to claim 19, an inertial measurement unit (IMU) supported by the rod and coupled to at least one of the processor or the data interface; At least one of the processor or the external processor, when the surveying device is in motion, using information captured by the IMU as an estimate of the location of the surveying device to perform a match of the measurement data captured by the LIDAR scanner with the scene model; and updating the location of the surveying device based on the match.

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