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Multi-camera sensing and calibration are two technologies which have been successfully applied in several cooperative projects with industrial partners. Firstly, we offer a service for mapping any indoor scene using a single hand-held camera. This automatically produces a sparse map of 3D points of the target environment. Secondly, we offer an additional service which can localize any mobile or surveillance camera within the previously reconstructed map. The indoor camera localization is currently being exploited in applications such as mobile robotics to improve navigation or to calibrate large networks of surveillance cameras.