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Figure 2. Floor plan by Trimble LaserAce 1000
Table 2. Coefficient of unknowns including rotation, scale and translation parametres (matrix A)
Figure 6: The geometric loci of each corner of a room as a function of all the measurements
Table  5:  Calibration  of  the  horizontal  angle  measurements  of  the  rangefinder  using  theodolite horizontal angle measurements

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