US Patent 10257505 Optimized object scanning using sensor fusion

Sensor fusion is utilized in an electronic device such as a head mounted display (HMD) device that has a sensor package equipped with different sensors so that information that is supplemental to captured 2D images of objects or scenes in a real world environment may be utilized to determine an optimized transform of image stereo-pairs and to discard erroneous data that would otherwise prevent successful scans used for construction of a 3D model in, for example, virtual world applications. Such supplemental information can include one or more of world location, world rotation, image data from an extended field of view (FOV), or depth map data.