{"id":1938,"date":"2025-12-21T18:18:05","date_gmt":"2025-12-21T18:18:05","guid":{"rendered":"https:\/\/bisonconvey.com\/blog\/tracking-systems-smart-conveyors-2025-rfid-vs-barcode-vs-uwb-vs-ble-vs-lidar\/"},"modified":"2025-12-21T18:18:05","modified_gmt":"2025-12-21T18:18:05","slug":"tracking-systems-smart-conveyors-2025-rfid-vs-barcode-vs-uwb-vs-ble-vs-lidar","status":"publish","type":"post","link":"https:\/\/bisonconvey.com\/ru\/%d0%b1%d0%bb%d0%be%d0%b3\/tracking-systems-smart-conveyors-2025-rfid-vs-barcode-vs-uwb-vs-ble-vs-lidar\/","title":{"rendered":"Tracking Systems for Smart Conveyors in 2025: RFID vs Barcode\/Machine Vision vs UWB RTLS vs BLE vs LiDAR\/3D"},"content":{"rendered":"<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-large\"><img fetchpriority=\"high\" decoding=\"async\" width=\"1536\" height=\"1024\" src=\"https:\/\/bisonconvey.com\/wp-content\/uploads\/2025\/12\/ea9a09efe398434fb3e857261bf56762.jpg\" alt=\"Smart conveyor with RFID, machine vision tunnel, UWB\/BLE anchors, and overhead LiDAR\/3D in a warehouse\" class=\"wp-image-1937\" srcset=\"https:\/\/bisonconvey.com\/wp-content\/uploads\/2025\/12\/ea9a09efe398434fb3e857261bf56762.jpg 1536w, https:\/\/bisonconvey.com\/wp-content\/uploads\/2025\/12\/ea9a09efe398434fb3e857261bf56762-300x200.jpg 300w, https:\/\/bisonconvey.com\/wp-content\/uploads\/2025\/12\/ea9a09efe398434fb3e857261bf56762-1024x683.jpg 1024w, https:\/\/bisonconvey.com\/wp-content\/uploads\/2025\/12\/ea9a09efe398434fb3e857261bf56762-768x512.jpg 768w, https:\/\/bisonconvey.com\/wp-content\/uploads\/2025\/12\/ea9a09efe398434fb3e857261bf56762-930x620.jpg 930w\" sizes=\"(max-width: 1536px) 100vw, 1536px\" \/><\/figure><\/div>\n\n\n<p>You\u2019re not just choosing a tracking technology\u2014you\u2019re deciding how your conveyor will see, identify, and time every move. Do you need continuous, slot\u2011level position or event\u2011based identity at read points? How tight is your accuracy target, and how harsh is the environment? In 2025, the practical choice often blends two or more systems to hit throughput, latency, and reliability goals.<\/p>\n\n\n\n<p>This guide compares five mainstream approaches for item and tote\/pallet tracking on smart conveyors: RFID (UHF RAIN passive and active), barcode\/2D code readers with machine vision, UWB RTLS, BLE RTLS, and LiDAR\/3D vision. The focus is evidence\u2011based performance, deployment constraints, and integration paths to PLC\/SCADA\/MES\/WMS.<\/p>\n\n\n\n<hr class=\"wp-block-separator\" \/>\n\n\n\n<h2 class=\"wp-block-heading\" >Quick comparison at a glance<\/h2>\n\n\n\n<figure class=\"wp-block-table\">\n<table class=\"has-fixed-layout\">\n\n<thead>\n<tr><th>Technology<\/th><th>Accuracy \/ Update model<\/th><th>Line\u2011of\u2011sight<\/th><th>Throughput \/ read\u2011rate evidence<\/th><th>Integration notes<\/th><\/tr>\n<\/thead>\n<tbody>\n<tr><td>RAIN RFID (passive UHF)<\/td><td>Event reads at portals; continuous only with dense antennas. Reader capability example: 1,300+ tags\/s and \u221292 dBm sensitivity on Zebra FXR90 (2024\u20132025).<\/td><td>No LoS; performance impacted by metal\/liquid.<\/td><td>Zebra FXR90 product\/spec page cites 1,300+ tags\/s and \u221292 dBm; line speed depends on antenna layout and tag population.<\/td><td>Siemens SIMATIC Ident supports PROFINET\/EtherNet\/IP and OPC UA via communication modules.<\/td><\/tr>\n<tr><td>Barcode\/2D + Machine Vision<\/td><td>Frame\u2011based; tunnels achieve up to 99.9% read rates (Cognex). System\u2011level speeds up to 3.5 m\/s (SICK).<\/td><td>Requires LoS; sensitive to dust\/glare\/condensation.<\/td><td>Cognex modular tunnels support 1\u20136\u2011sided scanning; SICK Lector Identification System cites up to 3.5 m\/s and 50 mm gaps.<\/td><td>Broad industrial Ethernet; tunnel managers for monitoring; PLC connectivity typical.<\/td><\/tr>\n<tr><td>UWB RTLS<\/td><td>Continuous streams; ~10\u201330 cm accuracy in industrial deployments (Sewio, Pozyx). Update rates commonly 1\u201310 Hz.<\/td><td>No LoS required, but NLoS\/multipath affects results.<\/td><td>Multiple vendors position decimeter accuracy; exact rates depend on tag settings and anchor geometry.<\/td><td>Location servers\/APIs; PLC integration via middleware; precise anchor sync needed.<\/td><\/tr>\n<tr><td>BLE RTLS (RSSI\/AoA)<\/td><td>RSSI: ~1\u20133 m zone\u2011level (Kontakt.io blogs). AoA: vendor claims sub\u2011meter to centimetre\u2011level with dense anchors (Quuppa marketing).<\/td><td>Susceptible to multipath; AoA needs locator density and calibration.<\/td><td>Public numeric specs are limited; treat AoA claims as vendor marketing if not datasheet\u2011backed.<\/td><td>Cloud\/edge APIs; battery maintenance; commissioning effort varies with accuracy target.<\/td><\/tr>\n<tr><td>LiDAR\/3D<\/td><td>mm\u2011class dimensioning (per SICK catalog); model\u2011specific accuracy varies.<\/td><td>Requires LoS; less sensitive to print quality.<\/td><td>SICK systems operate at high conveyor speeds for ID and dimensioning; exact mm accuracy depends on model.<\/td><td>Integrates with DWS\/track\u2011and\u2011trace; industrial Ethernet common.<\/td><\/tr>\n<\/tbody>\n\n<\/table>\n<\/figure>\n\n\n\n<p>Evidence and references:<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n\n<li>Zebra FXR90 specs and overview pages: see the FXR90 reader pages with read\u2011rate and sensitivity figures in 2024\u20132025. Example: the FXR90 product page and spec sheet describe 1,300+ tags\/s and \u221292 dBm sensitivity. Link: <strong><a href=\"https:\/\/www.zebra.com\/gb\/en\/products\/spec-sheets\/rfid\/rfid-readers\/fxr90.html\" rel=\"nofollow\">Zebra FXR90 fixed reader<\/a><\/strong>.<\/li>\n<li>Cognex modular tunnel details (1\u20136\u2011sided scanning, up to 99.9% read rates): <strong><a href=\"https:\/\/www.cognex.com\/products\/modular-vision-tunnels\" rel=\"nofollow\">Cognex Modular Vision Tunnels<\/a><\/strong>.<\/li>\n<li>SICK system\u2011level conveyor performance (up to 3.5 m\/s, 50 mm gaps): <strong><a href=\"https:\/\/www.sick.com\/ag\/en\/products\/systems\/track-and-trace-systems\/lector-identification-system\/c\/g575972\" rel=\"nofollow\">SICK Lector Identification System<\/a><\/strong>.<\/li>\n<li>UWB accuracy positioning from two vendors: <strong><a href=\"https:\/\/www.sewio.net\/uwb-technology\/\" rel=\"nofollow\">Sewio UWB Technology<\/a><\/strong> \u0438 <strong><a href=\"https:\/\/www.pozyx.io\/newsroom\/the-state-of-uwb\" rel=\"nofollow\">Pozyx: The state of UWB in 2025<\/a><\/strong>.<\/li>\n<li>BLE AoA and RSSI public claims (note: vendor marketing\/blogs): <strong><a href=\"https:\/\/www.quuppa.com\/blogs-articles\/creating-more-efficient-asset-tracking-with-onlogic\/\" rel=\"nofollow\">Quuppa AoA blog claims<\/a><\/strong> \u0438 <strong><a href=\"https:\/\/kontakt.io\/blog\/extensive-guide-to-bluetooth-beacons\/\" rel=\"nofollow\">Kontakt.io beacon guides<\/a><\/strong>.<\/li>\n<li>Industrial PLC integration for RFID: Siemens communication modules supporting PROFINET\/EtherNet\/IP\/OPC UA: <strong><a href=\"https:\/\/support.industry.siemens.com\/cs\/document\/109989502\" rel=\"nofollow\">Siemens SIMATIC Ident \u2013 communication modules<\/a><\/strong>.<\/li>\n\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator\" \/>\n\n\n\n<h2 class=\"wp-block-heading\" >RFID (UHF RAIN passive; active) on conveyors<\/h2>\n\n\n\n<p>Think of RFID as giving you electronic identity that doesn\u2019t require line\u2011of\u2011sight. On conveyors, RAIN UHF portals or tunnels read tagged parcels, totes, or pallets as they pass. With proper antenna geometry, you can capture bulk IDs at high speed while items are inside boxes or sleeves. Zebra\u2019s rugged fixed readers, for instance, list 1,300+ tags per second and \u221292 dBm sensitivity, which helps in dense tag populations and longer read ranges according to the FXR90 spec pages.<\/p>\n\n\n\n<p>Where it shines: identity through packaging, multi\u2011item bulk reads, auditability without camera visibility. It\u2019s strong for inbound\/outbound portals, reconciliation gates, and cases where barcodes might be obscured.<\/p>\n\n\n\n<p>Constraints to respect: nearby metals and liquids can detune UHF tags, reduce range, or cause nulls. The <strong><a href=\"https:\/\/rainrfid.org\/resources\/\" rel=\"nofollow\">RAIN Alliance resources<\/a><\/strong> recommend on\u2011metal tags or spacers and site testing\u2014wise moves before commissioning. Positioning accuracy is event\u2011based: you\u2019ll know an item passed a read zone, not its continuous position unless you deploy many antennas and carefully fuse encoder data.<\/p>\n\n\n\n<p>Integration and commissioning: industrial RFID ecosystems like Siemens SIMATIC Ident expose PROFINET\/EtherNet\/IP and OPC UA via communication modules, easing PLC connectivity and vertical integration. Layout matters: antenna placement, shielding against stray reads from neighboring lanes, and reader configuration for tag populations. Maintenance is light (no lenses to clean), but you\u2019ll manage tag quality and printer\/encoder operations.<\/p>\n\n\n\n<hr class=\"wp-block-separator\" \/>\n\n\n\n<h2 class=\"wp-block-heading\" >Barcode\/2D codes with machine vision<\/h2>\n\n\n\n<p>Optical systems give you high\u2011confidence identity when you can see the code. Modern tunnels stitch multiple cameras and lighting to scan 1\u20136 sides, improving read rates with mixed orientations. Cognex\u2019s modular tunnels report up to 99.9% read rates with synchronized acquisition. SICK\u2019s Lector Identification System cites conveyor speeds up to 3.5 m\/s with gaps as small as 50 mm, which fits high\u2011speed sortation.<\/p>\n\n\n\n<p>Strengths: precise identity with label verification, orientation\/placement checks, and even inline OCR or quality inspection. Vision can also capture condition evidence (damaged cartons, skewed labels) and enable analytics on print quality or misreads.<\/p>\n\n\n\n<p>Limitations: it needs line\u2011of\u2011sight. Dust, glare, condensation, and poor label contrast will cut read rates unless you design lighting, enclosures, and cleaning routines. When labels are inside opaque packaging, add RFID for identity or re\u2011label upstream.<\/p>\n\n\n\n<p>Commissioning and care: plan lighting (wavelength, polarization), lens selection, and camera angles to cover sides. Calibrate for exposure at your line speed and code sizes. Keep a cleaning schedule; cameras and lenses inevitably pick up film. Integration is straightforward via industrial Ethernet to PLCs and through APIs for higher\u2011level analytics.<\/p>\n\n\n\n<hr class=\"wp-block-separator\" \/>\n\n\n\n<h2 class=\"wp-block-heading\" >UWB RTLS<\/h2>\n\n\n\n<p>UWB brings continuous, decimeter\u2011level position streams to carriers, totes, or specialized fixtures on the conveyor. Anchors mounted around the line triangulate tag positions using time\u2011difference\u2011of\u2011arrival with precise synchronization. Vendors such as Sewio and Pozyx position well\u2011designed deployments at roughly 10\u201330 cm accuracy, with typical update rates in the low single\u2011digit Hz when balancing battery life and latency.<\/p>\n\n\n\n<p>Best fits: slot\u2011level timing for merges and diverters, lane assignment confirmation, and deterministic actuation where \u201cwe need the carrier to be here within a few hundred milliseconds\u201d matters. It\u2019s particularly helpful when you can\u2019t rely on line\u2011of\u2011sight or labels, and you want position rather than just identity.<\/p>\n\n\n\n<p>Caveats: battery tags add maintenance and cost. Metallic clutter, reflections, and poor anchor geometry will degrade accuracy. Plan the anchor layout, sync method, and calibration carefully; consider encoder fusion for belt speed to stabilize timing.<\/p>\n\n\n\n<p>Integration: UWB systems feed a location server, then your MES\/WMS\/PLC via middleware or APIs. You can gate diverters with position events and health checks on update rates and signal qualities.<\/p>\n\n\n\n<hr class=\"wp-block-separator\" \/>\n\n\n\n<h2 class=\"wp-block-heading\" >BLE RTLS (RSSI vs AoA)<\/h2>\n\n\n\n<p>BLE comes in two flavors for location: RSSI\u2011based zone presence and angle\u2011of\u2011arrival (AoA) for finer granularity. RSSI is inexpensive and simple, usually delivering 1\u20133 m room\u2011level accuracy per public vendor content. AoA increases locator density and calibration effort to chase sub\u2011meter accuracy; vendors like Quuppa market \u201ccentimetre\u2011level\u201d potential when the geometry and calibration are dialed in.<\/p>\n\n\n\n<p>Use cases: low\u2011cost zone presence (which conveyor segment a tote is on), human\u2011in\u2011the\u2011loop workflows (e.g., pick\u2011to\u2011light areas), and simple dashboards where exact slot timing isn\u2019t required. If you need sub\u2011meter timing at speed, BLE AoA can be considered, but expect more anchors, more careful calibration, and disciplined RF surveys.<\/p>\n\n\n\n<p>Tradeoffs: tags are battery\u2011powered, so update rates and beaconing profiles must balance battery life against latency. Multipath and metal structures can skew RSSI; AoA mitigates some of that but raises complexity. Integration is typically through cloud or edge APIs rather than direct PLC protocols.<\/p>\n\n\n\n<hr class=\"wp-block-separator\" \/>\n\n\n\n<h2 class=\"wp-block-heading\" >LiDAR\/3D vision<\/h2>\n\n\n\n<p>LiDAR and 3D systems quantify geometry\u2014parcel dimensions, pose, or surface height\u2014at conveyor speeds. In dimensioning\/weighing\/scanning systems, 3D sensors pair with barcodes to form full DWS stacks. SICK\u2019s track\u2011and\u2011trace systems document operation at high conveyor speeds, and catalog materials point to millimeter\u2011class measurements depending on the model.<\/p>\n\n\n\n<p>Where it helps: dimensional weight billing, carton integrity checks, detecting overhangs or double\u2011feeds, and verifying that the object will clear tunnels. It complements identity systems by adding a geometric record.<\/p>\n\n\n\n<p>Considerations: clear line\u2011of\u2011sight and space for overhead mounting are mandatory. Compute and network bandwidth rise with 3D streams. Dust can affect optics, though less than label print quality does; still design for enclosures and maintenance.<\/p>\n\n\n\n<hr class=\"wp-block-separator\" \/>\n\n\n\n<h2 class=\"wp-block-heading\" >Decision scenarios and recommended fits<\/h2>\n\n\n\n<p>High\u2011speed parcel sortation with mixed orientations and occlusions<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n\n<li>Lead with multi\u2011side machine vision tunnels for identity and label verification. If labels are missing or obscured, add RAIN RFID at portals for identity through packaging. For deterministic timing at merges\/diverters, add UWB tags to carriers and fuse with encoder data.<\/li>\n\n<\/ul>\n\n\n\n<p>Low\u2011cost zone presence of totes\/pallets<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n\n<li>BLE RSSI beacons or passive RFID gates can confirm segment\u2011level presence at low cost. Accept meter\u2011class accuracy and seconds\u2011level updates.<\/li>\n\n<\/ul>\n\n\n\n<p>Slot\u2011level or diverter timing accuracy<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n\n<li>UWB anchors with battery tags (or BLE AoA with dense anchors) and encoder fusion achieve sub\u2011meter timing. Plan maintenance windows for battery service and regular calibration checks.<\/li>\n\n<\/ul>\n\n\n\n<p>Rich inspection and label verification<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n\n<li>Machine vision (2D\/AI), optionally fused with RFID for identity when labels aren\u2019t visible. Add quality metrics and alarms in your tunnel manager.<\/li>\n\n<\/ul>\n\n\n\n<p>Bulk volumetrics and geometry on belts<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n\n<li>Overhead LiDAR\/3D scanners for millimeter\u2011class dimensions. Integrate with barcode and scales for DWS workflows.<\/li>\n\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator\" \/>\n\n\n\n<h2 class=\"wp-block-heading\" >Integration and commissioning best practices<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n\n<li>\n<p>Protocols and data paths: For RFID to PLCs, Siemens SIMATIC Ident communication modules expose PROFINET\/EtherNet\/IP and OPC UA. Vision systems typically provide industrial Ethernet, TCP\/IP APIs, and software managers for performance monitoring. UWB\/BLE often integrate via location servers and middleware to MES\/WMS and then into PLC logic.<\/p>\n<\/li>\n<li>\n<p>Edge and enterprise: Consider edge processing (e.g., SIMATIC Edge, FactoryTalk) for latency\u2011sensitive logic, and publish events upstream to MES\/WMS (SAP EWM, etc.) via OPC UA\/MQTT.<\/p>\n<\/li>\n<li>\n<p>Layout and calibration: For vision, design lighting and camera angles; for RFID, map antenna zones and shielding; for UWB\/BLE, run RF surveys and anchor geometry designs. Synchronize clocks (UWB) and encoder feeds to nail timing.<\/p>\n<\/li>\n<li>\n<p>Monitoring and alarms: Use vendor dashboards to watch read rates, misreads, signal quality, and update latency. Trigger cleaning, battery service, or recalibration based on trends.<\/p>\n<\/li>\n\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator\" \/>\n\n\n\n<h2 class=\"wp-block-heading\" >Environment and maintenance<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n\n<li>\n<p>Optics: Dust, glare, and condensation reduce read rates. Use sealed enclosures, polarized lighting, air knives, and routine lens cleaning. Log cleaning intervals tied to read\u2011rate metrics.<\/p>\n<\/li>\n<li>\n<p>RFID: Near metal\/liquid issues demand on\u2011metal tags or spacers and site testing. Audit tag print\/encode quality at receipt; poor inlays will waste time.<\/p>\n<\/li>\n<li>\n<p>RTLS: Battery life depends on update rate. Define service cycles and spares; monitor tag health. Multipath suggests careful anchor placement and periodic recalibration.<\/p>\n<\/li>\n<li>\n<p>3D sensors: Keep optics clean and ensure mechanical rigidity; vibrations can blur scans.<\/p>\n<\/li>\n\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator\" \/>\n\n\n\n<h2 class=\"wp-block-heading\" >TCO and lifecycle notes<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n\n<li>\n<p>Tags\/labels: Barcodes are fractions of a cent. UHF inlays cost more but remain low for unit economics. BLE\/UWB tags are higher per\u2011unit and introduce battery service.<\/p>\n<\/li>\n<li>\n<p>Infrastructure density: Vision tunnels need multiple cameras and lights; RFID portals need tuned antenna arrays; UWB\/BLE require anchor grids and sync; 3D scanners need clear overhead space and compute.<\/p>\n<\/li>\n<li>\n<p>Commissioning: Expect lighting tests, RF surveys, and calibration passes. Budget for spares, cleaning kits, printers\/encoders, and battery stock.<\/p>\n<\/li>\n<li>\n<p>Software and integrations: License tunnel managers or RTLS servers as needed; plan for APIs and protocol modules.<\/p>\n<\/li>\n\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator\" \/>\n\n\n\n<h2 class=\"wp-block-heading\" >Also consider: conveyor hardware influences tracking<\/h2>\n\n\n\n<p>Disclosure: BisonConvey is our product. Conveyor belt surface finish, idler materials, and provisions for mounting antennas or cameras affect tracking reliability. For heavy\u2011duty belts and integrated components engineered for harsh environments, see <strong><a href=\"https:\/\/bisonconvey.com\/ru\">\u0411\u0438\u0437\u043e\u043d\u041a\u043e\u043d\u0432\u0438<\/a><\/strong>. Choose hardware that minimizes vibration, controls dust, and accommodates sensor mounting to improve read rates and position stability.<\/p>\n\n\n\n<hr class=\"wp-block-separator\" \/>\n\n\n\n<h2 class=\"wp-block-heading\" >Selection checklist<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n\n<li>What accuracy do you actually need (event ID vs \u226430 cm position)?<\/li>\n<li>Can you guarantee line\u2011of\u2011sight for labels at your speeds?<\/li>\n<li>What are your environmental stressors (dust, glare, metals\/liquids)?<\/li>\n<li>What actuation latency do merges\/diverters require?<\/li>\n<li>Which PLC\/MES\/WMS interfaces are non\u2011negotiable?<\/li>\n<li>What maintenance budget do you have for cleaning, batteries, and recalibration?<\/li>\n\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator\" \/>\n\n\n\n<p>Smart conveyors benefit from hybrid tracking stacks that align identity, position, and inspection with the realities of your line. Think of it this way: pick the sensor that gives you the signal you need, then engineer around its constraints. Where will you start\u2014ID through packaging, continuous position, or rich visual inspection?<\/p>","protected":false},"excerpt":{"rendered":"<p>Compare smart conveyor tracking systems for 2025: RFID, Barcode\/Machine Vision, UWB RTLS, BLE, and LiDAR\/3D. See accuracy, throughput, integration, TCO, and decision scenarios.<\/p>","protected":false},"author":3,"featured_media":1937,"comment_status":"","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_eb_attr":"","_uag_custom_page_level_css":"","neve_meta_sidebar":"","neve_meta_container":"","neve_meta_enable_content_width":"","neve_meta_content_width":0,"neve_meta_title_alignment":"","neve_meta_author_avatar":"","neve_post_elements_order":"","neve_meta_disable_header":"","neve_meta_disable_footer":"","neve_meta_disable_title":"","neve_meta_reading_time":"","_themeisle_gutenberg_block_has_review":false,"footnotes":""},"categories":[1],"tags":[],"class_list":["post-1938","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-uncategorized"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v26.5 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>Tracking Systems for Smart Conveyors 2025: RFID vs Barcode vs UWB vs BLE vs LiDAR<\/title>\n<meta name=\"description\" content=\"Compare smart conveyor tracking systems for 2025: RFID, Barcode\/Machine Vision, UWB RTLS, BLE, and LiDAR\/3D. 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