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Figure 1: Robot equipped with the 3D-Hokuyo multi-echo laserscanner facing an unframed mirror.
Figure 2: Rotating Hokuyo UTM-30LX-EW multi-echo laser.
Figure 4: Scan of an empty room. Points of Echo 1 are orangeand points of Echo 2 are red.
Figure 9 shows the resulting point cloud after the 3D-Reflection-
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