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Registered range and camera images. (A) Camera and laser range scanner mounted on portable four-axis robotic gantry: (A) natural scene, (B) Nikon D700 DSLR camera, (C) Riegl VZ-400 3D range scanner, (D) custom robotic gantry. (B) A 200 × 200 pixel patch of a camera image of stone structure mapped onto the range image. The registration is generally within plus or minus one pixel. Note that the shadows in the camera image coincide with the mortared seams in the stone structure.
