Quick Introduction To Lidar and Basic Lidar Tools

Quick Introduction to Lidar and
Basic Lidar Tools
What is Lidar
LIDAR is an Acronym for LIght Detection And

Ranging
A basic lidar device consists of a laser, an
optical telescope, and a detector.
Laser
Telescope/
Detector
What is Lidar ? - Cont.
The detector counts the intensity of photons

returned over fixed time intervals and these
intensities over times are converted to heights
called range bins.
range bin = dz=(c*dt)/2, where c = the speed of
light, dz = distance dt = time. 160 ns would =
24m of dz See
http://pcl.physics.uwo.ca/science/lidarintro/ for
details.
Types of Lidar - Lasers
Lasers can be pulsed or continuous wave, or

can be of different frequencies
Standard airborne lasers will be near infrared(1047nm, 1064nm, and 1550nm).
Bathymetric lasers green (EAARL
NOAA/USGS, Commercial)
Multibeam Lidar 2 lasers near infrared and
Green mainly coastal, but may become more
mainstream.
http://agrg.cogs.nscc.ca/resources/lidarglossary
Types of Lidar Platforms
Satellite mostly profiles

Fixed-wing aircraft most common costeffective
Helicopter higher accuracy over large areas
and air density/pollutant measurements
Ground Based Scan area around point
Tabletop/vehicle mounted specialized
applications for specific areas.
3D scan place object on rotating surface to
scan the object in 3 dimensions
Posting/Point Spacing Distance
Distance between successive ground points
Historic 5-8 Meters ( NC 2001)
FEMA Flood standard 1.4 M/ USGS QL2 standard

0.7m posting
High density 10 points /M
FEMA requires better reporting/metadata
http://www.fema.gov/plan/prevent/fhm/lidar_4b.shtm
From http://www.eijournal.com/LiDar_Mapping.asp
Lidar data outputs
Ascii X,Y,Z
Proprietary binary formats older data going
away ( .ebn, .eebn)
LAS format -Industry standard, not mandatory,
usually not all required fields populated. Many
lidar cameras are generating LAS as the
default data output. Single file size currently
limited to 4 billion points. (new version 1.4
supports many more points per file)
Bare Earth points
Points derived from the data cloud believed to

represent the ground surface.
Not easy Generally leave to the experts.
Usually a standard deliverable. Can be done
with some free/open source tools.
http://grass.fbk.eu/grass64/manuals/html64_use
r/v.lidar.edgedetection.html.
MCC-Lidar
http://sourceforge.net/apps/trac/mcclidar/
Lidar Beam Spread and Multiple

Returns
As the light beam travels down to
the ground, it spreads out slightly
and can encounter obstructions on
the way. Power lines, rooftops, and
tree branches can all give return
reflections. There can be up to 5
returns per light pulse, but 1-3 is
more common
How Multiple Return Points are

derived
Note that Green laser lidar data

is full return. This means that the
Intensity of the return for given time slices
Is captured. In other words, the graph on
the left would have 100 or more
data values over the duration of the
laser pulse instead of 3.
For every beam/pulse

you end up with an X,Y,Z coordinate
for everything in the beam path
Lidar Point Cloud

Z
Return numbers/Return types
Multiple returns from the same pulse (can be up

to 5, usually not more than 3)
First of many, second of many, last of many
First and only
Not all lidar data sets contain this data :-(
1/3 of NC data has no return numbers. 1/2 has

no intensities.
Intensity
Measure of reflectance of target for each return

Near infrared frequency lasers sensitive to
moisture, chlorophyll. Possible wetland
delineation tool, but is a relative measurement.
Data Volume increases with

resolution
Phase I 2001 Lidar 5-8 m
Posting = 92 GB multiple
return data set
Craven County 2007 Lidar

0.7m Posting = 80 GB
multiple return data set
Nationwide LiDAR Data collection

Under Discussion
standard resolution proposed Q2 = 0.7m posting

http://www.dewberry.com/Consultants/GeospatialMapping/FinalReportNationalEnhancedElevationAssessment
Software Tools
LP360 plugin for ArcGIS/ERDAS $3000 + 18% per year Maintanence

LASTools command line, extraordinarily fast. Some free, some commercial
at $1.5K per tool or $4k for the bundle
http://www.cs.unc.edu/~isenburg/lastools/
LASZIP - http://www.laszip.org/ - use from the command line laszip-cli.exe
h for options. Free software under LGPL license
Fusion LTK USFS maintained tool for canopy/fuel analysis
Liblas http://liblas.org - command line tool for reading,extracting, and
manipulating LAS format data.
Pdal http://www.pdal.io/ - Successor to Liblas, more generic point cloud
formats
GRASS Can handle large multiple return data sets
ArcGIS 10.1 Can read LAS files, but need to import to Lidar Dataset first to
analyze in bulk. Newer versions have .zlas format for Lidar
Envi LAS modules
Reprojecting masses of points
Cs2cs - command line utility for point

coordinate reprojection part of FWTools
utilities
Liblas Uses gdal libraries.
Pdal uses gdal libraries
Some Lidar data does not have projection

information in the LAS file read the Metadata.
Fun things you can do with Lidar

Data.
Canopy Heights
Canopy Heights in Feet
From GRASS 7.0 r.in.lidar
Canopy heights and bird nests
Mean Height at 75m seems to be washing out differences between

species, see RCW and Painted Bunting
Skewness of Z values of LiDAR points

in each cell.
Negative
Skew
Positive
Skew
Skewness of Z values of LiDAR points .
Skewness at 25m
RCW Populations (1998-2003) in Northeast

NC (NENC), Onslow Bight (ONSB), SE NC
(BSL), and NC Sandhills (SAND)
Intra Species differences by location
RCW Canopy Heights in Northeast NC

(NENC1), Onslow Bight (ONSB2), SE NC
(BSL3), and NC Sandhills (SAND4)
RCW Skew in Northeast NC (NENC1),

Onslow Bight (ONSB2), SE NC (BSL3),
and NC Sandhills (SAND4)
RCW Variance in Northeast NC (NENC1),

Onslow Bight (ONSB2), SE NC (BSL3),
and NC Sandhills (SAND4)
Percent of the Point Cloud in 0 10 ft layer
Vertical Profile of Red-cockaded

woodpecker
at 25m
Vertical Profile of Bachman's

Sparrow at 25m
Vertical Profile of Painted

bunting at 25m

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Quick Introduction to Lidar and

Basic Lidar Tools

LIDAR is an Acronym for LIght Detection And

What is Lidar ? - Cont.

The detector counts the intensity of photons

Types of Lidar - Lasers

Lasers can be pulsed or continuous wave, or

Types of Lidar Platforms

Satellite mostly profiles

Posting/Point Spacing Distance

Distance between successive ground points

Historic 5-8 Meters ( NC 2001)

FEMA Flood standard 1.4 M/ USGS QL2 standard

High density 10 points /M

FEMA requires better reporting/metadata

Lidar data outputs

Bare Earth points

Points derived from the data cloud believed to

Lidar Beam Spread and Multiple

How Multiple Return Points are

Note that Green laser lidar data

For every beam/pulse

Lidar Point Cloud

Return numbers/Return types

Multiple returns from the same pulse (can be up

First of many, second of many, last of many

First and only

Not all lidar data sets contain this data :-(

1/3 of NC data has no return numbers. 1/2 has

Measure of reflectance of target for each return

Data Volume increases with

Craven County 2007 Lidar

Nationwide LiDAR Data collection

standard resolution proposed Q2 = 0.7m posting

LP360 plugin for ArcGIS/ERDAS $3000 + 18% per year Maintanence

Reprojecting masses of points

Cs2cs - command line utility for point

Liblas Uses gdal libraries.

Pdal uses gdal libraries

Some Lidar data does not have projection

Fun things you can do with Lidar

From GRASS 7.0 r.in.lidar

Canopy heights and bird nests

Mean Height at 75m seems to be washing out differences between

Skewness of Z values of LiDAR points

Skewness of Z values of LiDAR points .

From GRASS 7.0 r.in.lidar

RCW Populations (1998-2003) in Northeast

Intra Species differences by location

RCW Canopy Heights in Northeast NC

RCW Skew in Northeast NC (NENC1),

RCW Variance in Northeast NC (NENC1),

Percent of the Point Cloud in 0 10 ft layer

From GRASS 7.0 r.in.lidar

Percent of the Point Cloud in 10 20 ft layer

From GRASS 7.0 r.in.lidar

Percent of the Point Cloud in 20 30 ft layer

From GRASS 7.0 r.in.lidar