meters or place some objects with complex structures such as chairs and stools in this area. Improve the accuracy
of the solution. In addition, during data acquisition, attention should be paid to the incident angle of the laser,
and data acquisition should be done in the middle of the corridor or tunnel as far as possible, and meaningless
in-situ rotation should not be carried out, to avoid the sudden decrease of the incident angle caused by object
occlusion and errors in data calculation.
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