In this paper. we propose a novel approach to obtain accurate 3D reconstructions of large-scale environments by means of a mobile acquisition platform. The system incorporates a Velodyne LiDAR scanner. as well as a Point Grey Ladybug panoramic camera system. https://www.roneverhart.com/Ludwig-P2230B-Imperial-Tension-Lug-for-Snare-Drums-p9792/