## 1 Introduction  
At a time of great technological growth, accelerating computers, and automation, the replacement of human labour with newer instruments and processes is becoming more and more common in surveying. The level of current technologies allows the collection of big data in a very short time and moving most of the surveying work to the office. It is possible mainly due to digital photogrammetry [1, 2] and laser scanning [3, 4]. Combining these methods is commonly used in modern systems called mobile mapping systems [5, 6, 7, 8]. Whether they are handheld systems [9] or systems placed on various carriers (cars, aeroplanes) the main part of these systems is INS (inertial navigation system), which is used to determine the relative position of the device, and very often they are equipped with GNSS (Global Navigation Satellite System) equipment for absolute positioning. The main output of mobile mapping is a point cloud. The first mobile scanners appeared in the 1980s. These systems were developed for rapid GIS (Geographic Information System) data collection; they recorded spatial data using analogue cameras and determined the position of the vehicle by georeferencing the ground points and using gyroscopes, accelerometers, and odometers [10]. Development progressed, and so, as early as 1988, the Canadian MHIS (mobile highway inventory system) came along, using differential GPS (Global Positioning System) measurements combined with an inertial system to determine the position of the vehicle. Thus, the accuracy of vehicle positioning was in the tens of centimetres [11]. The next device, VISAT (Video cameras, an Inertial system, and Satellite GPS receivers), was designed to achieve a positioning accuracy of 0.3 m and a relative accuracy of 0.1 m at a speed of 60 km/h. This system already used several colour CCD (charge-coupled device) cameras to record image data [10]. The major milestone that brought mobile mapping to humanity's awareness was the creation of Street View primarily by Google in Google Maps. This type of spatial data viewing still enjoys great popularity. Since the new millennium, LiDAR (Light Detection and Ranging) technology has been added not only to terrestrial mobile mapping systems, but also to airborne scanners, and the systems are becoming more and more advanced [12]. This article focuses on the determination of the characteristics of the mobile laser scanner RIEGL VMX-2 HA's [13] measurements in the urban build-up area. The environment in these districts is very variable. However, these are often parts of the city where there is dense residential development, tall buildings, and street trees. Other survey methods such as GNSS RTK or total station surveying are difficult and time-consuming. The first problem is the actuality of the data. Typically, these methods require a lot of field measurement time, and a large area such as a city would require months of measurements. Another problem is the complexity of the environment. For example, GNSS RTK measurements are problematic because the environment obscures the view of the sky, interferes with the GNSS signal, or cannot be used to measure points on private land without the owner's consent. The motivation for this project is the possibility of replacing the surveying of objects by the traditional geodesy methods with the more effective method of mobile mapping. The best-known mobile mapping systems include devices from GEOSLAM, Leica, Trimble, Faro, or GreenValley [9; 14; 15; 16; 17]. These are generally handheld devices, but most of the newer models can be mounted on various carriers. Mobile mapping devices cost from tens of thousands to hundreds of thousands of euros. Currently, short training of a non-professionally educated person is usually required to operate these systems, or it can be placed on autonomic carriers [18]. This leads to cost savings and the extension of this method to new branches [19; 20].