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isprsannals II 3 W5 17 2015

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Figure 1. Photos of the first author operating the backpack systemat MoLAS, in Freiburg, November 2014.
Figure 2. Images of the backpack system. Left: Side view withall of its sensors and equipment
Figure 4. Eight frames showing the 2D map created in the MoLAS scenario (cf. Fig. 1). The red line denotes the trajectory
Figure 6. Top: “unwound” 3D point cloud. Bottom: Optimizedpoint cloud using semi-rigid SLAM
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