Synthesized view for demonstrating geo-referred moving object detection: object point clouds (tram, car, pedestrians) detected on two subsequent i3D Velodyne frames (marked with blue) are put in and displayed in the MLS reference point cloud
[1] B. Gálai, and Cs. Benedek: "Change Detection in Urban Streets by a Real Time Lidar Scanner and MLS Reference data", International Conference on Image Analysis and Recognition (ICIAR), Montreal, Canada, July 5-7, 2017, to appear in Lecture Notes in Computer Science, Springer, 2017