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By coupling the variety and orientation of the laser beams, we can easily attain the place in the laser beam footprint relative for the laser unit body, r I l u tThe 3D coordinates of the ground issue, I, from the mapping frame can then be derived as per Equation (1). r I m = r v m t + R v m t r l u v + R v m t R l u v r I l u tThere are lots of dr