US 12,352,572 B2
Surveying system for surveying in harsh environments
Iain Wallace, Bristol (GB); Lyndon Hill, Bristol (GB); Pep Lluis Negre Carrasco, Bristol (GB); and Nicholas Read, Bristol (GB)
Assigned to ROVCO Limited, Bristol (GB)
Appl. No. 17/593,555
Filed by ROVCO Limited, Bristol (GB)
PCT Filed Mar. 10, 2020, PCT No. PCT/EP2020/056318
§ 371(c)(1), (2) Date Sep. 20, 2021,
PCT Pub. No. WO2020/187642, PCT Pub. Date Sep. 24, 2020.
Claims priority of application No. 19164343 (EP), filed on Mar. 21, 2019.
Prior Publication US 2022/0178690 A1, Jun. 9, 2022
Int. Cl. G01C 15/00 (2006.01); G05D 1/00 (2006.01); G06T 17/00 (2006.01)
CPC G01C 15/00 (2013.01) [G05D 1/0016 (2013.01); G06T 17/00 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A surveying system for surveying in harsh environments, the surveying system comprising:
a mobile device comprising:
a casing defining a sealed enclosure; and
an imaging device;
a first data processor;
a first computer memory;
a pose sensor arranged to determine pose data representing a pose of the mobile device;
a first data transceiver;
wherein the first data processor is arranged to:
receive images from the imaging device and execute a first 3D reconstruction algorithm to generate 3D survey data from the received images and develop a local 3D model on the first computer memory;
process the received images to form processed data; and
cause the first data transceiver to transmit the processed data and/or the pose data for receipt by a server, wherein the first data processor is arranged to execute a model refinement algorithm to develop the local 3D model in response to receipt of refined 3D survey data from the server via the first data transceiver,
wherein the first data processor is arranged to cause the first data transceiver to incrementally transmit the processed data for receipt by the server while the local 3D model is being developed, wherein the first data processor is arranged to execute the model refinement algorithm to develop the local 3D model in response to an incremental receipt of refined 3D survey data from the server via the first data transceiver.