This paper describes a novel method for large-scale 3D mapping for construction cranes with an arbitrary motion of the sensor system (2D lidar and IMU) attached to the crane boom. A heavy lidar with a slowly rotating base is needed to make a large-scale map both vertically and horizontally for cranes. This sensor configuration and mapping conditions entail handling each 2D scan separa... https://parisnaturalfoodes.shop/product-category/org-sun-dried-raisins-thompsons/