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There are a number of packages which do this now, ranging from expensive,
special purpose packages such as Laser Scan's VTRAK to Arc/Info addons
like ArcScan and an AutoCAD addon called CADCore.  A low-end standalone
is from a company called Audre but I don't know the name of their product.
 
Terrell R. Williams
 
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Image Scans, Inc.
7651 W. 41st Ave., Suite 200
Wheat Ridge, CO  80033
Phone: (303) 422-2227
Fax:   (303) 422-2958