The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. Vol. XXXVII. Part Bl. Beijing 2008 
Because it can measure black objects, it can used in 
autonomous tunnel mapping. In the future, we will develop an 
autonomous tunnel mapping system based on our 3Dlaser 
scanner. 
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ACKNOWLEDGEMENTS 
This work is supported in part by National Natural Science 
Foundation of China (NSFC 40601081), Beijing Science and 
Technology Nova project (2006B57) and National Science and 
Technology Support Program (2006BAJ15B01-02) 
Type 
Callidus 
Cyrax250 
0 
I-SiTE 
GS 100 
ILRIS-3D 
LMS-Z420 
AX100 
Laser class 
1 
2 
1 
2 
1 
1 
2 
wavelength (nm) 
905 
532 
904 
532 
1540 
904 
532 
Measurement range (m) 
80 
100 
450 
100 
800 
200 
80 
Accuracy (mm) 
5( 30m) 
6(50m) 
8( 300m) 
6( 100m) 
7( 100m) 
10(100m) 
6( 32m) 
Measurement rate (pts) 
3300 
1000 
6000 
1000 
2000 
9000 
7256 
Vertical scanning range (deg) 
360 
40 
340 
360 
40 
360 
360 
Vertical scanning range (deg) 
180 
40 
80 
60 
40 
80 
180 
Table 1 Comparison with foreign products in the technical parameter