US Patent 12086925 Targetless tracking of measurement device during capture of surrounding data

Technical solutions are described to track a handheld three-dimensional (3D) scanner in an environment using natural features in the environment. In one or more examples, the natural features are detected using machine learning. Features are filtered by performing a stereo matching between respective pairs of stereo images captured by the scanner. The features are further filtered using time matching between images captured by the scanner at different timepoints.