2D laser range-finder 1 2D laser scanner 1 3D digitalization 1 3D point clouds 1 3D processing 1 Bayesian inference 1 IMMS 1 LRF 1 LiDAR 1 Lidar localization system 1 MLS 1 ORB-SLAM2 1 OctoMap RGB-D camera 1 SLAM 1 Vitis vinifera 1 automated database construction 1 binary vocabulary 1 category matching 1 constrained nonlinear least-squares problem 1 convolutional neural network (CNN) 1 crowdsourcing trajectory 1 cultural heritage 1 dynamic environment 1 encoder 1 enhanced RANSAC 1 fingerprinting 1 geometric features 1 grammar 1 handheld 1