## 4 Processing of the Measured Data
### MLS Data Processing  
Using the mobile laser scanner Lidaretto, the trajectory processing was carried out with the Inertial Explorer software. The LiDAR360 software was used to merge and align individual point clouds into the final point cloud. The resulting point cloud, which was created by combining the clouds obtained from the scanner mounted on the car and backpack, consisted of 119,383,840 points. In Lidaretto Creator, a quality check of the final point cloud was performed, and the quality was improved using CPs, with an RMSE of 0.034 m. Lidaretto Creator was also used to export the final point cloud. Further parameters of the final point cloud obtained using the MLS method with the Lidaretto mobile laser scanner are provided in Table 5.  
The data collected using the Stonex X120 GO mobile laser scanner were processed with the Gopost desktop software. In this software, the measurement trajectory, GCPs, and CPs were processed, with the final RMSE for the GCPs reaching 0.021 m. The point cloud was registered, textured, and colorized with the Gopost software. Since the point cloud was processed based on GCPs/CPs, the resulting point cloud is connected to a precise geodetic network using standard reference systems: Datum of Uniform Trigonometric Cadastral Network (S-JTSK), JTSK realization, and Baltic Vertical Datum after adjustment. The final point cloud consisted of 199,096,585 points. Additional parameters of the final point cloud obtained using the MLS method with the Stonex X120 GO mobile laser scanner are listed in Table 5.  
Using the Pix4 Dmatic software, the data obtained by an iPhone 13 Pro with an Emlid scanning kit and a GNSS antenna Reach RX were processed. This setup combines Lidar and photogrammetry, and no GCP or CP was used during the scanning. The scanning was conducted with the RTK module activated, meaning the resulting point cloud is in the Datum of Uniform Trigonometric Cadastral Network (S-JTSK), JTSK realization, and Baltic Vertical Datum after adjustment. The average GSD (ground sampling distance) reached 0.3 cm/pix. The final point cloud contained 14,384,860 points. Additional parameters of the final point cloud obtained with the combined iPhone 13 Pro with an Emlid scanning kit and a GNSS antenna Reach RX are listed in Table 5.  
\begin{table}
\begin{tabular}{c c c c c} \hline \hline  & **TLS** & \multicolumn{3}{c}{**MLS**} \\ \cline{2-5}
**Results** & **Leica** & & & **iPhone 13 Pro with** \\  & **RTC360** & **Lidaretto** & **Stonex** & **an Emlid scanning kit** \\  & **RTC360** & **Lidaretto** & **X120 GO** & **and a GNSS antenna** \\  & & & & **Reach RX** \\ \hline No. of & & & & \\ standpoints/scans & 40 & 2 scans & 3 scans & 1 scan \\ GCP/CP & 37/28 & 0/75 & 5/8 & 0/0 \\ Resulting point cloud & 916,014,221 & 119,383,840 & 199,096,585 & 14,384,860 \\ Area [m\({}^{2}\)] & 28,000 & 28,000 & 28,000 & 3500 \\ Point density & 54,798 & 2802 & 10,652 & 30,757 \\ [points/m\({}^{2}\)] & 0.025 & 0.034 & 0.021 & - \\ Measurement time [h] & 5 & 0.66 & 1 & 0.1 \\ \hline \hline \end{tabular}
\end{table}
Table 5: Parameters of the resulting point clouds obtained by the surveying methods.