US Patent 9008998 Systems and methods for processing mapping and modeling data

A method for post-processing georeferenced mapping data includes providing positioning data indicating a position of a data acquisition system in a defined space at specific moments in time, providing ranging data indicating relative position of objects in the defined space with respect to the data acquisition system at the specific moments in time, performing a smoothing process on the positioning data to determine smoothed best estimate of trajectory (SBET) data for trajectory of the data acquisition system, performing a scan matching process on the SBET data and the ranging data to identify objects and/or object features in the defined space, performing a process to revise the SBET data so that the SBET data aligns with the identified objects and/or object features and storing the revised SBET data with the range data.