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The exemplary point clouds provided by real and virtual LiDAR sensor models for m × m Lambertian plate placed at 30 m. (a) Real measured point clouds (b) LiDAR FMU point clouds (c) State-of-the-art LiDAR sensor model. The real and LiDAR FMU points are noisy and dispersed. However, the state-of-the-art LiDAR model points are ideal and aligned.
