1. A method of performing geometrical measurements of remote objects, the method comprising: performing a laser sweep of a measurement object with a handheld sensor device, the handheld sensor device including a distance measurement unit and an inertial measurement unit, the distance measurement unit being configured to measure a distance to a point on the object in a measurement direction, the measurement direction being defined by an orientation of the handheld sensor device; activating the distance measurement unit to perform a plurality of distance measurements during the laser sweep; activating the inertial measurement unit to perform an inertial measurement in association with each of the distance measurements; using a processor to process the distance measurements, wherein the inertial measurements include position and orientation data pertaining to the handheld measuring device, with reference to the associated inertial measurements to determine a geometric characteristic of the measurement object; using the processor to generate a three-dimensional (3D) point collection for the measurement object from the distance measurements and the associated inertial measurements; further comprising: using the processor to reduce the 3D point collection to a collection of two-dimensional (2D) points; using the processor for the detection and segmentation of 2D lines in the 2D point collection; using the processor to compute intersection points between the 2D lines; and using the processor estimate at least one of: a dimension of a wall based on the Euclidian distance between the intersection points; and an angle between two walls based on an angle between two intersecting 2D lines.