This dataset presents a comparative analysis between a high accurate reference point cloud acquired using the Leica ATR 960 (Laser tracker) and Leica LAS XL (Hand-held scanner), and a total of 51 laser scans point clouds using Z+F Imager 5016. The comparisons were carried out at the Hitec Laboratory of the Geodetic Institute Hannover, where controlled scanning conditions were maintained while capturing various objects. Throughout the entire measurement process, great care was taken to ensure constant temperature and air pressure. The deviations observed through backward modeling are reflected in the distance measurements. Additionally, to explore potential factors influencing TLS distance measurements, feature engineering was conducted. The dataset is exceptionally well-suited for understanding and potentially modeling the uncertainties associated with TLS distance measurements. # Measurement process and backward modelling  # Feature engineering The formulas used for feature engineering are displayed in the following document: [Feature engineering](https://data.uni-hannover.de/dataset/e0dd7c6c-de06-4c44-8848-e1d7f9757a1a/resource/8d23b9f1-3b70-498f-b3e7-59d12b9e73f5/download/feature-engineering.pdf) # Object describtion & Viewpoints The definitions of individual objects can be extracted from the following figures. It can be observed that some objects exhibit similar characteristics.  The TLS viewpoints were distributed throughout the entire space of the laboratory. The 3D coordinates of the viewpoints as well as the corresponding standard deviations of the translation parameters, derived from the georeferencing process are given in document. [Viewpoint overview](https://data.uni-hannover.de/dataset/e0dd7c6c-de06-4c44-8848-e1d7f9757a1a/resource/75defd9e-8a9a-48c5-adf6-3ad5e7f40917/download/info_scan_positions.txt) Moreover, it should be mentioned that some TLS viewpoints have duplicate scans taken in the first and second locations.  # Data set description Each object in the dataset has its own individual data stored as a PLY file. These PLY files contain not only the XYZ coordinates but also the features and residuals. A comprehensive description of the dataset can be found in the associated documentation. [Data description](https://data.uni-hannover.de/dataset/e0dd7c6c-de06-4c44-8848-e1d7f9757a1a/resource/38a71f58-bc3a-4de7-8b0d-74947597a879/download/data.pdf)