Capturing environmental scans using landmarks based on semantic features

Abstract

A method is provided that includes recording a landmark at a first scan position of a scanner, the landmark based at least in part on a semantic feature of scan data captured by the scanner. The semantic feature is identified using line-segments of the scan data. The method further includes capturing, by the scanner while moving through the environment, additional scan data at a second scan position. The method further includes, responsive to the scanner returning to the first scan position associated with the landmark, computing a measurement error. The method further includes correcting, using the measurement error, at least a portion of the scan data or the additional scan data.

What is claimed is: 
     
         1 . A method comprising:
 recording a landmark at a first scan position of a scanner, the landmark based at least in part on a semantic feature of scan data captured by the scanner, the semantic feature identified using line-segments of the scan data;   capturing, by the scanner while moving through the environment, additional scan data at a second scan position;   responsive to the scanner returning to the first scan position associated with the landmark, computing a measurement error; and   correcting, using the measurement error, at least a portion of the scan data or the additional scan data.