Fig. 1. Experimental platform. (a) Physical image; (b) size of the laser rangefinder; (c) size of the pan-tilt

Fig. 2. Framework of our system

Fig. 3. 3D point cloud obtained by our system

Fig. 4. Variance of 760 sets of data

Fig. 5. Flow chart of our algorithm

Fig. 6. Experimental data. (a) Planar imaging scene; (b) planar imaging point cloud; (c) angular imaging scene; (d) angular imaging point cloud; (e) early experiment scene; (f) unprocessed point cloud

Fig. 7. Outdoor imaging scene

Fig. 8. Outdoor imaging result

Fig. 9. Schematic diagram of the interval between two adjacent points

Fig. 10. Fitting graph of straight. (a) Straight line1; (b) straight line2