“…The embedded microcontroller decodes the time information into a timestamp and synchronizes the time information to the LIDAR and the high-precision motor using the self-developed time synchronization module [13][14] . Through the 5G module, the real-time scanning data is sent to the remote terminal, which receives the data and performs multi-frame registration of the point cloud through linear interpolation algorithm points, followed by coarse registration of the multi-station laser point cloud according to BeiDou/GNSS coordinates and fine registration using the Rodriguez matrix to complete the overall registration [15][16][17] . The aligned laser point cloud data are segmented and formatted to obtain the data format supported by the real-time point cloud management and visualization system and combined with the LOD scheduling strategy to realize the laser point cloud data visualization.…”