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Figure 1. Riegl VMX-250 placed on a Mobile Mapping van.
Figure 4. Bayes network for the situation in figure 3. arespectively,mi, bi and are the unknowns for the anchor points and surface elements, ui, vi are the observed distances from the measuredpoints to their assigned surface element (equation type 1), andpi, qi are the observed exterior orientations (equation type 2).Equation type 3 results in conditions between successiveunknowns (ai, ai+1 and bi, bi+1).
Figure 6. Result of the region growing algorithm. Eachconnected object is assigned a random color.
Figure 8. Point cloud consisting of multiple scans, using arandom color for each scan.
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