## 5 Results
### Analysis of the Differences in Point Cloud Based on the Shift on Objects
\begin{table}
\begin{tabular}{c c c c c c c} \hline \hline \multirow{2}{*}{**Device**} & **Number** & **Radius** & **Radius Deviation** & **Center Coordinates** & \multicolumn{2}{c}{**Coordinate Deviations of the**} \\  & **of Points** & **[m]** & **from the Reference** & \multicolumn{2}{c}{**Center from the Reference Method**} \\ \cline{5-7}  & & & **Method [m]** & **Y [m]** & **X [m]** & **Y [m]** & **X [m]** \\ \hline Leica RTC360 & 6,343,281 & 0.493 & - & 440,855,320 & 1,242,889,025 & - & - \\ \hline Lidaretto & 993,205 & 0.451 & 0.042 & 440,855,314 & 1,242,889,009 & 0.006 & 0.016 \\ \hline Stonex X120 GO & 457,215 & 0.507 & \(-\)0.014 & 440,855,317 & 1,242,888,992 & 0.003 & 0.033 \\ \hline \hline \end{tabular}
\end{table} 
Table 8: Tree trunk geometry analysis. Figure 10: Analysis of the differences in the point clouds—tree trunk. Table 9 shows the shifts and differences between the MLS point clouds compared to the reference TLS data at the corners of the building. The smallest difference was detected at point B when compared with the point cloud from the Stonex X120 GO, with a value of 0.9 cm. The largest deviation was found when comparing the point cloud from the Lidaretto at point A, with a value of 10 cm. The best deviations in the comparison between the reference point cloud and the MLS point cloud were achieved with the Stonex X120 GO mobile laser scanner, with an average deviation of 3.0 cm for the building. We also compared the MLS point clouds with the reference TLS point cloud based on the cross-section area. In this case, the best result was achieved by the Lidaretto point cloud, with an area only 0.2 m\({}^{2}\) smaller than the building's cross-section area obtained using the TLS method. The final object for the horizontal differences derived between point clouds is the mast of a street lamp. Three cross-sections were made on the lamp: one at a height of 1 m from the ground surface and the other two at heights of 3 m and 5 m from the ground surface. Figure 12 shows the point clouds from each method used in the selected cross-sections. Figure 11: Analysis of the differences in the point clouds—corners (**A–D**) of a building. Figure 12: Analysis of the differences in the point clouds—cross-sections of the mast of a street lamp. \begin{table}
\begin{tabular}{c c c c c c c c c c c} \hline \hline  & \multicolumn{8}{c}{**Horizontal Difference of Derived Corners on Building [cm]**} & \multicolumn{2}{c}{**Area**} & \multicolumn{2}{c}{**Differ-**} \\ \cline{2-11}  &
\begin{tabular}{c} **Compared** \\ **Source** \\ \end{tabular} & **A** & **B** & **C** & **D** & **MIN** & **MAX** & **AVG** & **STD** & **[m\({}^{2}\)]** & **Ence [m\({}^{2}\)]** \\ \hline  & Lidaretto & 10.0 & 6.1 & 4.9 & 8.2 & 4.9 & 10.0 & 7.3 & 2.3 & 720.3 & \(-\)0.2 \\ \cline{2-11}
**Leica** &
\begin{tabular}{c} Stonex \\ X120 GO \\ \end{tabular} & 4.8 & 0.9 & 2.8 & 3.6 & 0.9 & 4.8 & 3.0 & 1.6 & 718.8 & 1.3 \\
**(720.4 m\({}^{2}\))** &
\begin{tabular}{c} iPhone 13 Pro \\ with Emlid \\ scanning kit \\ \end{tabular} & 9.8 & 4.8 & 4.1 & 1.3 & 1.3 & 9.8 & 5.0 & 3.5 & 724.1 & \(-\)4.0 \\ \hline \hline \end{tabular}
\end{table} 
Table 9: Horizontal differences in the cross-section—corners of the building. The individual point clouds were analyzed based on the number of points, radius, and shift. The reference method in this case was the point cloud obtained using the TLS method. In the first analysis, the lowest cross-section, point clouds from the mobile laser scanner Lidaretto, the mobile laser scanner Stonex X120 GO, and the iPhone 13 Pro with an Emlid scanning kit and a GNSS antenna Reach RX were analyzed. For the TLS method, the first section consisted of 647 points, and the radius was 0.053 m. Using the mobile laser scanner Stonex X120 GO, the first section contained 63 points, with a lamp radius of 0.076 m and a shift from the reference method of 3.27 cm. Using the mobile laser scanner Lidaretto, the first section contained only 13 points, with a lamp radius of 0.063 m and a shift of 3.47 cm.