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Figure 2: Diagram of depth-jumps at a single pole object.
Figure 3: Scan lines plotted for a pole with 110 mm diameter atdifferent distances to sensor (left: approx
Figure 4: Accuracy color map for one landmark constellation(gray circles) and example trajectory.
Figure 6: Deviation of calculated positions based on differentscans. Different colors show different scanner orientations (blackcross: reference position).

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