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Comparison of different horizontal resolutions of the Ouster OS1 sensor with 128 vertical layers, (a) 512 points (0.7°), (b) 1024 points (0.35°) and (c) 2048 points (0.18°) over 360° in each layer. A supplementary animation of the scenario with sensor parameterization (b) can be found in the Supplementary Materials.
