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