![Page 1: Modern LIDAR Sensor Technologies - an Overviewpcp2019.ifp.uni-stuttgart.de/presentations/01-2019... · EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 4 ifp Timeline](https://reader034.vdocument.in/reader034/viewer/2022052015/602df9eff3c75a64f12102f4/html5/thumbnails/1.jpg)
ifpifpUniversity of Stuttgart
Modern LIDAR Sensor Technologies -
an Overview
Gottfried Mandlburger
TU Vienna, Department of Geodesy and Geoinformation
University of Stuttgart, Institute for Photogrammetry
![Page 2: Modern LIDAR Sensor Technologies - an Overviewpcp2019.ifp.uni-stuttgart.de/presentations/01-2019... · EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 4 ifp Timeline](https://reader034.vdocument.in/reader034/viewer/2022052015/602df9eff3c75a64f12102f4/html5/thumbnails/2.jpg)
ifpifpMandlburger: Modern LIDAR technologies 2
Timeline Airborne Laser Scanning
Airplane/Helicopter Light aircraft/Gyrocopter UAV
EuroSDR PCP 2019, Stuttgart
1995 2000 2005 2010 2015
First/last Pulse
Full waveform
laser scanning
2020
Single Wavelength LiDAR* Multi-spectral LiDAR
Geiger-mode LiDAR
Single Photon LiDAR
Linear Mode LiDAR
1kg
*) LiDAR: Light Detection And Ranging*) Bathy: BathymetriyHydrographieDeep Bathy*)/Shallow Bathy Topo-Bathy UAV-Bathy
![Page 3: Modern LIDAR Sensor Technologies - an Overviewpcp2019.ifp.uni-stuttgart.de/presentations/01-2019... · EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 4 ifp Timeline](https://reader034.vdocument.in/reader034/viewer/2022052015/602df9eff3c75a64f12102f4/html5/thumbnails/3.jpg)
ifpifpEuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 4
Timeline Airborne Laser Scanning – 1997
Colored by amplitudePoint density: 1-2 points/m2
ALS simulation
First/last echo
![Page 4: Modern LIDAR Sensor Technologies - an Overviewpcp2019.ifp.uni-stuttgart.de/presentations/01-2019... · EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 4 ifp Timeline](https://reader034.vdocument.in/reader034/viewer/2022052015/602df9eff3c75a64f12102f4/html5/thumbnails/4.jpg)
ifpifpEuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 9
Timeline Airborne Laser Scanning – 2015
Colored by reflectancePoint density: points/m2
ALS simulation
Full waveform
![Page 5: Modern LIDAR Sensor Technologies - an Overviewpcp2019.ifp.uni-stuttgart.de/presentations/01-2019... · EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 4 ifp Timeline](https://reader034.vdocument.in/reader034/viewer/2022052015/602df9eff3c75a64f12102f4/html5/thumbnails/5.jpg)
ifpifpEuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 10
Timeline Airborne Laser Scanning – 2019
Colored by reflectancePoint density: 800 points/m2
UAV LiDAR
Full waveform
![Page 6: Modern LIDAR Sensor Technologies - an Overviewpcp2019.ifp.uni-stuttgart.de/presentations/01-2019... · EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 4 ifp Timeline](https://reader034.vdocument.in/reader034/viewer/2022052015/602df9eff3c75a64f12102f4/html5/thumbnails/6.jpg)
ifpifpEuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 12
Timeline Airborne Laser Scanning – 2019
Colored by reflectance/RGBPoint density: 800 points/m2
Hybrid UAV-LiDAR + camera
Full waveform
![Page 7: Modern LIDAR Sensor Technologies - an Overviewpcp2019.ifp.uni-stuttgart.de/presentations/01-2019... · EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 4 ifp Timeline](https://reader034.vdocument.in/reader034/viewer/2022052015/602df9eff3c75a64f12102f4/html5/thumbnails/7.jpg)
ifpifp
Contents
• LiDAR basics: Geometry and radiometry
• Target detection: From discrete to returns to full waveform LiDAR
• Laser wavelengths: From single wavelength to multispectral LiDAR
• Below water: From topography to bathymetry
• Detector technology: From linear-mode to Single Photon LiDAR
• Sensor systems: From single purpose scanners to hybrid sensor systems
• Platforms: From manned platforms to UAV LiDAR (Topo+Bathy)
EuroSDR
PCP
2019,
StuttgartMandlburger: Modern LIDAR technologies
1
3
![Page 8: Modern LIDAR Sensor Technologies - an Overviewpcp2019.ifp.uni-stuttgart.de/presentations/01-2019... · EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 4 ifp Timeline](https://reader034.vdocument.in/reader034/viewer/2022052015/602df9eff3c75a64f12102f4/html5/thumbnails/8.jpg)
ifpifpMandlburger: Modern LIDAR technologies 14
Linear mode– Geiger mode – Single Photon
Comparison: single laser pulse Linear-mode waveform LiDAR GmLiDAR
600-2500m
4000-10000m
Single Photon LiDAR
2000-4000m
EuroSDR PCP 2019, Stuttgart
Tim
e
Voltage
![Page 9: Modern LIDAR Sensor Technologies - an Overviewpcp2019.ifp.uni-stuttgart.de/presentations/01-2019... · EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 4 ifp Timeline](https://reader034.vdocument.in/reader034/viewer/2022052015/602df9eff3c75a64f12102f4/html5/thumbnails/9.jpg)
ifpifp
Linear-mode vs Single Photon LiDAR
EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 15
Receivers‘s
Field Of View( FOV)
Diameter of
laser footprint
Conventional LiDAR
Linear-mode LiDAR
Geiger-mode Avalanche Photo
Diode array (GmAPD array, 32x128)
Geiger-mode LiDAR
Laser footprint illuminates
entire receiver‘s FOV
Single Photon LiDAR
10x10 partial beams (beamlets)
derived from single laser pulse
via Diffractive Optical Element (DOE)
Silicon photomultiplier
(Degnan, 2019)
1 transmitter 1 receiver
(full waveform)
1 transmitter 4096 receivers
(binary detectors)
en.wikipedia.org/wiki/Silicon_photomultiplier
1 transmitter 100 receivers
(discrete echo detection)
![Page 10: Modern LIDAR Sensor Technologies - an Overviewpcp2019.ifp.uni-stuttgart.de/presentations/01-2019... · EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 4 ifp Timeline](https://reader034.vdocument.in/reader034/viewer/2022052015/602df9eff3c75a64f12102f4/html5/thumbnails/10.jpg)
ifpifp
Data acquisition Single Photon LiDAR (SPL 100)
EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 16
Flight mission parameters
Flight date 29.07.2018
Scan rate 5 MHz
Flying altitude 4000m
Swath width 2000m
Scan pattern circular
(Palmer)
Field-of-View 30°
Overlap >50%
Nom. pt. density 20 Pkt/m2
Nr. of strips 10
![Page 11: Modern LIDAR Sensor Technologies - an Overviewpcp2019.ifp.uni-stuttgart.de/presentations/01-2019... · EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 4 ifp Timeline](https://reader034.vdocument.in/reader034/viewer/2022052015/602df9eff3c75a64f12102f4/html5/thumbnails/11.jpg)
ifpifp
Single Photon LiDAR (SPL): Unfiltered 3D point cloud
EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 17City of Vienna, 3rd district, Scanner: Leica SPL100
![Page 12: Modern LIDAR Sensor Technologies - an Overviewpcp2019.ifp.uni-stuttgart.de/presentations/01-2019... · EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 4 ifp Timeline](https://reader034.vdocument.in/reader034/viewer/2022052015/602df9eff3c75a64f12102f4/html5/thumbnails/12.jpg)
ifpifp
Single Photon LiDAR (SPL): Postproc. 3D point cloud
EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 18City of Vienna, 3rd district, Scanner: Leica SPL100
![Page 13: Modern LIDAR Sensor Technologies - an Overviewpcp2019.ifp.uni-stuttgart.de/presentations/01-2019... · EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 4 ifp Timeline](https://reader034.vdocument.in/reader034/viewer/2022052015/602df9eff3c75a64f12102f4/html5/thumbnails/13.jpg)
ifpifp
Full Waveform LiDAR: 3D point cloud
EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 19City of Vienna, 3rd district, Scanner: RIEGL VQ-1560i
![Page 14: Modern LIDAR Sensor Technologies - an Overviewpcp2019.ifp.uni-stuttgart.de/presentations/01-2019... · EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 4 ifp Timeline](https://reader034.vdocument.in/reader034/viewer/2022052015/602df9eff3c75a64f12102f4/html5/thumbnails/14.jpg)
ifpifp
Visual comparison of 3D point clouds
EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 20
Waveform LiDARSPL Aerial image (RGB)
Signal intensity [DN]
![Page 15: Modern LIDAR Sensor Technologies - an Overviewpcp2019.ifp.uni-stuttgart.de/presentations/01-2019... · EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 4 ifp Timeline](https://reader034.vdocument.in/reader034/viewer/2022052015/602df9eff3c75a64f12102f4/html5/thumbnails/15.jpg)
ifpifp
Comparison: longitudinal section
EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 21
Legend:
SPL unfiltert
SPL postprocessed
Waveform LiDAR
![Page 16: Modern LIDAR Sensor Technologies - an Overviewpcp2019.ifp.uni-stuttgart.de/presentations/01-2019... · EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 4 ifp Timeline](https://reader034.vdocument.in/reader034/viewer/2022052015/602df9eff3c75a64f12102f4/html5/thumbnails/16.jpg)
ifpifp
Sensor systems
From range finders to integrated multi-purpose sensors
Mandlburger: Modern LIDAR technologies 22EuroSDR PCP 2019, Stuttgart
![Page 17: Modern LIDAR Sensor Technologies - an Overviewpcp2019.ifp.uni-stuttgart.de/presentations/01-2019... · EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 4 ifp Timeline](https://reader034.vdocument.in/reader034/viewer/2022052015/602df9eff3c75a64f12102f4/html5/thumbnails/17.jpg)
ifpifp
EuroSD
R PCP
2019,
Stuttgar
t
Mandlburger: Modern LIDAR technologies 23
Hybrid Aerial Sensors
Produkt Laser
channels
[nm]
Scan rate
[kHz]
Camera Type Pixel size
[μm]
Optech Titan 532/1064/1550 3 x 300 CM-10000 80 MP, RGB 5.2
Optech Galaxy 1064 1000 CM-10000 80 MP, RGB 5.2
Riegl VQ-1560-DW 532/1064 2 x 666 PhaseOne 100 MP, RGB 4.6
Leica TerrainMapper 1064 2000 RCD30 80 MP, RGBI 5.2
Leica CityMapper 1064 700 5 x RCD30 80 MP,
RGB(I)
5.2
Titan Galaxy VQ-1560i-DW TerrainMapper CityMapper-2
![Page 18: Modern LIDAR Sensor Technologies - an Overviewpcp2019.ifp.uni-stuttgart.de/presentations/01-2019... · EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 4 ifp Timeline](https://reader034.vdocument.in/reader034/viewer/2022052015/602df9eff3c75a64f12102f4/html5/thumbnails/18.jpg)
ifpifpEuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 24
Hybrid sensor systems, Leica CityMapper-2
Leica CityMapper-2
Airborne Hybrid SensorLaser scanner 1064 nm
Pulse repetition rate 2000 kHz
Beam divergence (1/e2) 0.25 mrad
Flying altitude 300 – 2500 m
Scan mechanism Risley Prisma
4 x oblique cameras RCD30, RGBI, 150 Mpix
1 x nadir camera RCD30, RGBI, 150 Mpix
Arbitrary scan patterns by coupling
of two rotating prisms (Risley prism)
RCD30
cameras
Laser scanner
Source: https://leica-geosystems.com/en-in/products/airborne-systems/leica-citymapper
![Page 19: Modern LIDAR Sensor Technologies - an Overviewpcp2019.ifp.uni-stuttgart.de/presentations/01-2019... · EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 4 ifp Timeline](https://reader034.vdocument.in/reader034/viewer/2022052015/602df9eff3c75a64f12102f4/html5/thumbnails/19.jpg)
ifpifpEuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 26
Fusion of LiDAR and Images
Data: Riegl VQ-1560i, PhaseOne iXU-RS1000, Vienna
Colored by signal intensity
![Page 20: Modern LIDAR Sensor Technologies - an Overviewpcp2019.ifp.uni-stuttgart.de/presentations/01-2019... · EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 4 ifp Timeline](https://reader034.vdocument.in/reader034/viewer/2022052015/602df9eff3c75a64f12102f4/html5/thumbnails/20.jpg)
ifpifpEuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 27
Fusion of LiDAR and Images
Data: Riegl VQ-1560i, PhaseOne iXU-RS1000, Vienna
![Page 21: Modern LIDAR Sensor Technologies - an Overviewpcp2019.ifp.uni-stuttgart.de/presentations/01-2019... · EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 4 ifp Timeline](https://reader034.vdocument.in/reader034/viewer/2022052015/602df9eff3c75a64f12102f4/html5/thumbnails/21.jpg)
ifpifpEuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 28
Hybrid sensor orientation (Glira, 2019)
Schematic representation of laser/camera sensors on an airborne platform
Glira et al., 2019, Hybrid Orientation of
Aerial Lidar Point Clouds and Aerial Images.
ISPRS Annals, Geospatial Week, Enschede,
The Netherlands
![Page 22: Modern LIDAR Sensor Technologies - an Overviewpcp2019.ifp.uni-stuttgart.de/presentations/01-2019... · EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 4 ifp Timeline](https://reader034.vdocument.in/reader034/viewer/2022052015/602df9eff3c75a64f12102f4/html5/thumbnails/22.jpg)
ifpifpEuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 29
Hybrid sensor orientation (Glira, 2019)
![Page 23: Modern LIDAR Sensor Technologies - an Overviewpcp2019.ifp.uni-stuttgart.de/presentations/01-2019... · EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 4 ifp Timeline](https://reader034.vdocument.in/reader034/viewer/2022052015/602df9eff3c75a64f12102f4/html5/thumbnails/23.jpg)
ifpifpEuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 30
Height differences LiDAR – Dense Image Matching
Laser only orientation Hybrid sensor orientation
Rela
tive
Orie
nta
tio
n: str
ips-t
o-s
trip
s
Rela
tive
Orie
nta
tio
n: str
ips-t
o-im
age
s
De
via
tio
n: la
se
r b
lock v
s.
op
tim
um
orie
nta
tion
Rela
tive
Orie
nta
tio
n: str
ips-t
o-s
trip
s
Re
lative
Orie
nta
tio
n: str
ips-t
o-im
age
s
Devia
tion
: la
se
r b
lock v
s.
op
tim
um
orie
nta
tion
Data
: H
essig
heim
, B
fG, K
oble
nz
![Page 24: Modern LIDAR Sensor Technologies - an Overviewpcp2019.ifp.uni-stuttgart.de/presentations/01-2019... · EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 4 ifp Timeline](https://reader034.vdocument.in/reader034/viewer/2022052015/602df9eff3c75a64f12102f4/html5/thumbnails/24.jpg)
ifpifp
Platforms
From manned aircrafts to Unmanned Aerial Vehicels
Mandlburger: Modern LIDAR technologies 31EuroSDR PCP 2019, Stuttgart
![Page 25: Modern LIDAR Sensor Technologies - an Overviewpcp2019.ifp.uni-stuttgart.de/presentations/01-2019... · EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 4 ifp Timeline](https://reader034.vdocument.in/reader034/viewer/2022052015/602df9eff3c75a64f12102f4/html5/thumbnails/25.jpg)
ifpifpEuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 32
Manned and unmanned platforms
Transport aircraft (Source: Wiki)
Helicopter (Source: SPAR3D)
Light aircraft (Source: Diamond aircraft)
Gyrocopter (Source: IGI systems)
UAV (Source: Wallace et al.
Forests)
![Page 26: Modern LIDAR Sensor Technologies - an Overviewpcp2019.ifp.uni-stuttgart.de/presentations/01-2019... · EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 4 ifp Timeline](https://reader034.vdocument.in/reader034/viewer/2022052015/602df9eff3c75a64f12102f4/html5/thumbnails/26.jpg)
ifpifpEuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 33
Unmanned platforms
rotorsGNSS+ radio data link antennas
batteries
laser scanner (1) + IMUcameras
laser scanner (4)
camera or IR laser
octocopter UAV (MTOM: 25 kg)
octocopter UAV (MTOM: 35 kg)
hexacopter UAV (MTOM: 15.5 kg)
profile array laser scanners (5) + IMU
GNSS antennas
Source: 4D-IT, www.4d-it.com
Fixed wing UAV (MTOM: 15.5 kg)
Source: Quantum systems, https://www.quantum-systems.com; YellowScan, https://www.yellowscan-lidar.com/
profile arraylaser scanner (5)
(a) (b)
(c) (d)
cameras
![Page 27: Modern LIDAR Sensor Technologies - an Overviewpcp2019.ifp.uni-stuttgart.de/presentations/01-2019... · EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 4 ifp Timeline](https://reader034.vdocument.in/reader034/viewer/2022052015/602df9eff3c75a64f12102f4/html5/thumbnails/27.jpg)
ifpifpEuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 34
UAV LiDAR – Sensor overview
ID sensor mass wavelength max
range
prec/
acc
meas.
rate
meam
div.
footprint
@50m agl
FOV channels
[kg] [nm] [m] [mm] [kHz] [mrad] [mm] °
1 VUX1-UAV 3.75 1550 300 5/10 500 0.5 25 330 1
2 miniVUX-2UAV 1.60 905 250 10/15 200 1.6 x 0.5 80 x 25 360 1
3 VUX-240 4.10 1064 650 15/20 1500 0.35 18 75 1
4 VQ-840-G 12.00 532 --- 15/20 200 1.0 - 6.0 50 - 300 40 1
5 Puck LITE 0.59 903 100 --/30 300 3.0 x 1.2 150 x 60 360 32
6 Alpha Puck 3.50 903 300 --/30 2400 3.0 x 1.5 150 x 75 360 128
7 CL-90 3.85 1550 175 5/10 500 0.3 15 90 1
8 CL-360 3.50 1550 300 5/10 500 0.3 15 360 1
![Page 28: Modern LIDAR Sensor Technologies - an Overviewpcp2019.ifp.uni-stuttgart.de/presentations/01-2019... · EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 4 ifp Timeline](https://reader034.vdocument.in/reader034/viewer/2022052015/602df9eff3c75a64f12102f4/html5/thumbnails/28.jpg)
ifpifp35
UAV-LiDAR Hessigheim
LiDAR point cloud colorised
with oblique imagery
EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies
Data: Hessigheim, BfG, Koblenz
Sensor: Riegl VUX1-UAV+2xSony A6000
![Page 29: Modern LIDAR Sensor Technologies - an Overviewpcp2019.ifp.uni-stuttgart.de/presentations/01-2019... · EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 4 ifp Timeline](https://reader034.vdocument.in/reader034/viewer/2022052015/602df9eff3c75a64f12102f4/html5/thumbnails/29.jpg)
ifpifpEuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 36
Bathymetric UAV Laser Scanning: Riegl VQ-840-G
![Page 30: Modern LIDAR Sensor Technologies - an Overviewpcp2019.ifp.uni-stuttgart.de/presentations/01-2019... · EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 4 ifp Timeline](https://reader034.vdocument.in/reader034/viewer/2022052015/602df9eff3c75a64f12102f4/html5/thumbnails/30.jpg)
ifpifpEuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 37
Data capturing, Neubacher Au, Pielach, Aug 27th 2019
Landing of RiCopter-M carrying VQ-840-G bathymetric laser scanner after surveying a 500m section of Pielach River
![Page 31: Modern LIDAR Sensor Technologies - an Overviewpcp2019.ifp.uni-stuttgart.de/presentations/01-2019... · EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 4 ifp Timeline](https://reader034.vdocument.in/reader034/viewer/2022052015/602df9eff3c75a64f12102f4/html5/thumbnails/31.jpg)
ifpifp
• Constant progress in lidar technology
- Echo detection:
• Discrete echo full waveform capture online waveform processing
- Measurement rate:
• Increased measurement range and scan rate multiple pulses in the air
- Multiple wavelengths:
• Single wavelength multispectral laser scanning
- Receiver sensitivity:
• Linear-mode LiDAR Single Photon LiDAR
- Comprehensive systems:
• Scanner only Hybride sensor system (scanner + cameras)
- Miniaturization:
• Manned platforms UAV LiDAR small footprint high spatial resolution
EuroSDR PCP 2019, Stuttgart Mandlburger: Modern LIDAR technologies 38
Summary