Practical Application

Our strategy was used in a practical setting, documented in the video [6]. In the great hall of Schloss Birlinghoven, starting about 8 meters from a door ($d=1$ for the right scanner setting), Kurt follows the trajectory developed in the third part; depending on the position of a hidden object (a chair) he may have to perform a second scan from the corner. The second scenario shows a starting distance of $d=2$, resulting in two intermediate scan points.