Table 2. Comparison of drift effects of 2D laser scanners at four meter distance.

Scanner	Mean Value	Standard Deviation	Relative Error	RMSE
	${\stackrel{-}{\mathit{x}}}_{\mathit{M}}$(mm)	${\stackrel{-}{\mathit{\sigma }}}_{\mathit{M}}$ (mm)	${\stackrel{-}{\mathit{\eta }}}_{\mathit{M}}$ (%)	(mm)
URG-04LX	3986.3	16.8	-0.34	14.35
RPLidar A1	4017.3	21.3	0.43	17.2
UTM-30LX	4006.6	11.3	0.16	6.3