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LIDAR Data Summary on page 39Background information is found on FOL : ASPRS_Standard_on_LIDAR.pdf

Download LIDAR data from the USGS Earth Explorer website as shown here:

Obtaining LIDAR Data

http://earthexplorer.usgs.gov/ Note: Sample data is on FOL if downloading is not desired (top - page 5).

At the top right you will have to click the Register button to access the data and then Login later.

Once logged in, it is important to set the search date to 2012 or later.

Set the Date criteria as in this example:

Data is georeferenced in UTM coordinates for 2012 or later which is easier to handle. Also, older data is not classified which limits model creation.

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Zoom the map to where you want the data. Unfortunately, the data is in the USA. Only older data is available near the Canadian border such as in Windsor and Sarnia. Do not use any data older than 2012 since it is not classified (to be explained later).

On the left, set the tab to Search Criteria.

Click on the map to outline an area to search in. Note: 2012 or newer LIDAR data is only available in certain areas of the United States.

In the top left, click the Data Sets tab.

Open the LIDAR Archive and choose LIDAR

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Click the Results button near the to left.

The results will be returned.

One can click on the black circled letter i to get a non-limited list.

If you get no results, then a new search area has to be created. The old search area has to be cleared. To clear the search coordinates, go to the Search tab and then click Clear Coordinates. Follow this by picking a new area on the map; check the Results tab again.

Hint: There is a lot of data scattered through many locations. High concentrations of data are in South Oregon, Seattle Washington, Philadelphia, St. Louis, etc. Some data sets are bigger than others and take

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more time to process. There is one standard data set on Fanshawe Online that can be used if you want to use it. It is called “HumesRanch” which is located in South Oregon.

If you want to use a data set from Earth Explorer, continue to read the next steps, otherwise, skip to the top of page 5.

Click the footprint symbol to see where the data is. Make sure to “un-click” the footprint to see the next available data set.

Choose an area and click download button and store the data to disk.

Also click download on the following window that appears for LAS Product.

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The LIDAR file (FOL or USGS) is zipped. Unzip this file and extract the files to a folder of your choice.

Two files are unzipped; the LAS file of points and the XML file containing information on the projection system, units, etc.

Note: in the XML file has perhaps a code called EPSG with a number associated with it. EPSG stands for the European Petroleum Survey Group. Look for this number and record it. This number will assist in determining the correct coordinate system to be used in ArcMap, AutoCAD Map/Civil, Microstation, Bentley, PCI Geomatica, ENVI, ERDAS, Blue Marble Geographics, DAT/EM or any other geographically based analysis software.

http://www.epsg.org/

About the EPSG DatasetThe IOGP’s EPSG Geodetic Parameter Dataset is a collection of definitions of coordinate reference systems and coordinate transformations which may be global, regional, national or local in application.

The data can be used in several ways.

1. Using LIDAR in the AutoCAD Task Pane (MAP or Civil 3D 2015 versions)

Start a new AutoCAD drawing.

Make sure the Task Pane is on (MAPWSPACE -> On). Activate the Display Manager tab.

In the Display Manager, use Add Point Cloud Data => Create New Index.

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In the Point Cloud Manager window, remove any file(s) that might be there using and then click Add file.

Find the LAS file that was unzipped and open it (be patient, this may take a few moments).

Highlight the record for the file – click the left edge (the record will turn blue).

Take note of the Coordinate System shown: UTM83-15 in this example only.

This same Coordinate System will be set for the current drawing at this time. Type in CSASSIGN. Type in the code into the Search box and then select the same code from the list.

Click Assign.

Note: No filter will be used at this point, however, if the word None is clicked under Filter, the Classifications are visible in the Filter list:

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Examine the classes to be imported. Click Cancel in the Filter Point Cloud window.

In the Point Cloud Manager window, highlight the LAS file record again so the record turns blue.

Click Generate index. .

The processing will take a while. A check mark appears next to the Source when the file is ready.

Highlight the record again at the check mark so the record is blue and then click Add to map when the button is activated. The point cloud is now a layer in the Task Pane Display Manager tab.

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Close the Point Cloud Manager window. Right click on the point cloud layer in the task pane Display Manager layers and select Zoom to Extents.

Note: Type in POINTCLOUDMANAGER. A window appears. Turn off all of the items (the circles) as shown below since this shows the “raw” point cloud without class colors.

<-- the raw point cloud tool

<-- use the Task Pane to show the point cloud.

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The LAS file may appear as follows or sometimes it appears blank with a rectangle around it. Either is fine for now.

Type in the LIST command and select the cloud <hit Enter>.

<-- Displayed Points may read as 0 at this time.

Not all points are displayed to allow for processing. If none are seen, processing is still taking place. The use of the RE command (for Regenerate) may speed up the process.

To adjust Displayed Points value, click the edge of the point cloud rectangle so it appears blue (chosen). On the context sensitive menu, click the down arrow next to Point Cloud Tools

Use a Realtime Density of about 50 . Check

Select the point cloud layer in the Display Manager of the Task Pane.

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The menu ribbon at the top of the screen changes that of the . If

this does not take place, click the item on the ribbon.

Under Style, change the Preset value to Classification.

The colours change to those of the classification system.

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or

In the Style section in the Ribbon, under Classification is a pull down

leading to

The above controls the visibility of the various classification point sets. Of interest will be the Ground (#2) and, perhaps, the Water (#9) points. Leave these as is for now.

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Clicking the Set Style button

leads the Point Cloud Style window used to control the colours used for Classification, Elevation and Intensity.

Do not change any colours (use Cancel).

In the View part of the Point Cloud ribbon, use the Filter Point Cloud button.

In the Filter Point Cloud window, choose the Ground classification and choose Apply Filter. Note: If water exists, use the CTRL key to choose water and the

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ground together (sometimes water will exist in the image but it is not classified).

or

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Note: Filtering is also accessible from the Task Pane Display Manager tab by right clicking the point cloud layer and choosing Filter Point Cloud…

In the Create section of the Point Cloud ribbon, choose 3D Surface.

Clear any file that may be there already with .

Click . Highlight the ISD file in the folder where the original

LAS file is and use Open. Click the check mark so the record turns blue. Then click Generate Surface to get a GeoTIFF surface.

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When the processing is done, click the check mark and then click Add to map.

Close the Surface Manager window.

or

In the Task Pane Display Manager, click Draw Order.

Drag the Point Cloud layer above the Ground layer (in Green).

Highlight the point cloud layer in the Task Pane

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Click Filter Point Cloud in the View section of the menu Ribbon.

Clear the Filter and then click Apply Filter.

or

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Turn off the Point Cloud layer in the Display Manager.

Click the Ground layer (green) and choose the Style button.

Choose Theme from the Style field in the Style editor.

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Five elevation ranges are used by default. Five will be used.

Click the … button to the right of the Style ramp for the Specify a theme section.

Click the left colour bar and choose a “From” colour (low elevation) and then choose a “To” colour (choose your own colours)

Click OK.

Click the Band detail button.

Each colour can be altered here if desired by choosing one of the colour bands and picking another colour.

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Click on each Thematic Rule and adjust the elevation range for each colour with a dash between the numbers (low-high). You may decide on your own Thematic rule ranges (there are five)

The higher elevation may be “noise” due to birds, airplanes, etc.

An example of converted elevations is shown below:

Click Apply.

Close the Style Editor window. Take a snapshot jpg for the drop box called Plan_1.jpg.

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or

Turn on the Point Cloud layer in the Display Manager.

Show the MAP STATUS bar.

If you do not see the MAPSTATUS bar, right click on the grey coloured status bar at the bottom of the AutoCAD window and check off Drawing Status Bar.

The 3D button should now be visible.

Click the 3D button.

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Type in VPOINT and set the XY Plane angle to 0 for an elevation view. OK.

Zoom to an interesting area.

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or

Take a snapshot jpg for the drop box called Elev_1.jpg.

Type in the command PLAN -> World. The plan view is now shown.

or

The LIDAR points can be shut off in the Task Pane if desired so that the ground surface can be seen. Set the viewing shade mode to “normal” 2d using Shademode -> 2dwireframe or click the 2D arrow in the Map status bar.

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3D Snap Mode for AutoCAD Civil 3D – for Point CloudsCommand : OSNAP

The 3D Object Snap on F4 can be used for 3D snaps (F3 can then be used for 2D snaps). OKAlso, turn on the 3D snap mode icon found in the status bar to see when the snap mode is active.

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When the Snap mode is on (F4), look for the symbol to see if it is blue for 3D Snaps. Distances can then be measured on the Point Cloud with, for example, the DIST or Dimensioning commands.

Save the drawing as LIDAR with Task Pane but DO not submit this drawing. Use this drawing in case changes are to be made to the model.

2. Using LIDAR in the AutoCAD as an Attached External Reference

To use this method, the data will have to first be prepared in an associated product called Recap (Reality Capture). The disadvantage of using this method compared to that used previously in the Task Pane is that a surface cannot be readily extracted for the Task Pane and have styles applied to it. This tool creates two special files, an RCS (ReCap Scan) and an RCP (ReCap Project).

Recap can be started within AutoCAD or independently. It is best to close AutoCAD and use Recap independently to conserve computer memory resources.

Note: A new drawing will be started to perform this next step. The CSASSIGN command will be used again for the new drawing with the Coordinate System set to the same as in the drawing just saved: LIDAR with Task Pane. So, take note of the Coordinate System you used since you will have to make use of it again. For example: for the Hume’s Ranch LIDAR file area, the coordinate system used was

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as seen in the status bar. Make note of the code. In this example case, it is UTM83-10. If you use the St. Louis area LIDAR data, the code is UTM83-15. Others LIDAR files will vary in coordinate systems.

Start ReCap

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Open the LAS file.

Wait a moment for the file to be ingested.

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Wait while indexing the LAS file..

Save the Project This is the RCP file.

Set the Save as Type to RCS

Give the file a name of your choice. Save.

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If the RCS file cannot be exported due to memory limitations, that is OK since there is an RCP file that is automatically created in the same work folder that can be used instead. Save the ReCap project if it did not terminate due to “low memory”. Otherwise, if the system did crash during the Export, just close the ReCap program.

Taking the RCP (or RCS) file to AutoCAD

Start AutoCAD.

Use CSASSGIN.

Type in the Coordinate System code used in the previous drawing in section 1.

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Assign

Use the Insert ribbon.

Open the RCP file.

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OK

The LIDAR file will appear.

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Select the Point Cloud by clicking its edge on the screen. The context sensitive menu Ribbon (Point Cloud Appears).

The Scan Colours can be changed to Classification

Change the Colour Mapping

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Use Ground and Water

There are some other controls for viewing.

Lighting:

You may experiment with various modes.

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The circular buttons are ON/OFF settings. The Scans are the default from ReCap (a perspective side view). Clicking the bottom item (a scan) will move the point of view (automatic vpoint or orbit) to a side shot in perspective mode. (note : a marker may appear – click Escape to remove it).

Note: if nothing appears instantly, the system is processing the data. Try Zoom with a factor of 0.001x.

When the marker (geographic marker) appears, you may have to orbit and zoom back to see your model.

Take a snapshot jpg for the drop box called Elev_2.jpg.

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To go back to normal viewing, use

-- >

Note:

One can get back to plan view with the Plan - > World command sequence BUT point clouds must be viewed in Wireframe; so set the SHADEMODE command to Wireframe if necessary.

Save the drawing as LIDAR As Attachment but DO not submit this drawing. Use this drawing in case changes are to be made to the model.

Note: Method 2 just described is that found in any AutoCAD version and is limited in capability (e.g. no GeoTiff can be created as available in Method 1 with AutoCAD Map / Civil).

Close the drawing.

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3. Using LIDAR for use exclusively in AutoCAD Civil 3D

Start a new drawing in AutoCAD Civil 3D (this does not work in regular AutoCAD or AutoCAD Map).

Use CSASSGIN.

Type in the Coordinate System code used in the previous drawing in section 1.

Assign

Open the Toolspace using the TOOLSPACE command.

Change the workspace to the Civil 3D workspace.

In the Toolspace’s Prospector tab, right click Point Clouds and choose Create Point Cloud.

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On the first page of the window use a Point Cloud Style for LIDAR Point Classification.

The LAS file could be used again, but this time, a different file will be used.

Switch to the GeoTiff format. Note: Since a GeoTiff is used, standard LIDAR based point Classification will not be used and is only available if the LAS file were to be used.

Use will be made of the GeoTiff generated in Section 1.

Click the plus sign to add a file and find the tif file created from section 1 that is the ground surface only (no unclassified data will be used). Open the tif file.

The coordinate system is read from the tif file.

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Close

Processing will take place for a few moments.

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When ready, this message appears in the lower right. Click where shown below.

The point cloud appears in grey.

This is because the style was set to LIDAR Point Classification and this is incorrect for a GeoTiff file.

This style can now be changed to Elevation Ranges.

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Select the Point Cloud on the screen (it will turn blue).

Choose Point Cloud Properties in the menu ribbon.

From the Information tab,

change the Point Cloud Style to Elevation Ranges

Click OK

In the Toolspace, Refresh the point cloud with a right click on the point cloud in the list, choosing Refresh, and also then hit the Escape key so the cloud is not selected.

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Click the 3D mode tool in the MAP status bar

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Take a snapshot jpg for the drop box called Elev_3.jpg

Save the drawing as LIDAR in Civil 3D but DO not submit this drawing. Use this drawing in case changes are to be made to the model.

Summary : Drop Box JPGs from pages 19, 21, 32 and 39 – 25% each

Additional Notes on Methods to create a Surface from a Point Cloud.

Method 1

1. In Toolspace, right click on "Point Clouds" and choose "Create Point Cloud"

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2. On the "Information pane, fill in your details and choose a style and click next

3. On the "Source Data" pane, select LAS as the point cloud file format, click the + (plus icon) open the *.las file. Set the correct Coordinate System of the las file. Click the folder icon and browse to the place you will store the new point database. Set the point database coordinate system and click "Next"

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4. Click "Finish"5. The cloud will take some time to process.

When done:

6. Move the new point cloud to a new layer (called Point_Cloud) .7. When it is finished, in the Toolspace expand "Point Clouds" and then right

click the new point cloud object and select "Add Points to Surface"

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or type in the Command

8. Go through the Surface creation panes and your surface will be created. See below.

Next

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Define a window on the point cloud to create a smaller region than the entire point cloud extents for creation of a surface.

Next, leading to a Summary, and then Finish.

Freeze the Point_Cloud layer to reveal the surface.

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Method 2

Productivity Pack 1 is used (a subscription service) that has a tool whose command is

CREATESURFACEFROMPOINTCLOUD

The Subscription Extension Manager is found in the Toolspace of Civil 3D under the Toolbox tab.

Use the Insert ribbon.

Open the RCP file.

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OK

The LIDAR file will appear. Place this point cloud on its own layer called Point_Cloud (make a new layer if necessary to have a Point_Cloud layer).

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With the CREATESURFACEFROMPOINTCLOUD command, select the point cloud.

Fill in the General information

Next

Use and draw a window around part of the point cloud so that not all of the points are used.

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Highlight the Point Cloud selection which is the entire point cloud and click

Now select the window area from the list and click

For the filter method, use Kriging interpolation

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Wait for Freeze the Point_Cloud layer to see the surface.

LAStools

LAStools are a set of programs that can be run independently or run from within the Toolbox in ArcMap.

LAStools are free to download from: http://rapidlasso.com/lastools/

Unzip the files to one folder on the desktop or other location of your choice.

Within these files is one folder -> which has the

file. This file can be used by the ArcMap Toolbox.

Using ArcMap with LAStools (and with built in LIDAR based tools in ArcMap)

Open ArcMap.

To use the sample file, HumesRanch, mentioned on page 4, above; a coordinate system has to be set up for it in ArcMap.

Start with a Blank Map template.

Right click to get the Data Frame Properties

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Right click

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Start with ArcMap’s

Open the las file for HumesRanch

Set the Coordinate System

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OK

Zoom in to 1:4000

The LAS Dataset Toolbar appears

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Use

This dataset is mostly unclassified with some ground points (brown).

Do not use any of these for these will change the view without the classification

Use

3D View

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Click and then draw line across the screen – double click to stop the profile line.

Click on top of the profile line to see a profile.

There are tools that can be used at the top left for measuring, for example.

Using LAStools

1st tool

Read the description to the right

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Make sure to use the .las extension in the name of the output file, such as

HumesGround.las

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OK

Wait for processing to finish

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Close when done.

A new dataset can be made, as was done on page 49, for HumesGround.las

Switch to the dataset desired for viewing

Change the view to

Back to LAStools

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The height can then be used in the next tool to classify trees, for example.

Set up lasheight as follows: use HumesHeight.las as the file name for the output

OK

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Wait for processing to finish

Close when done.

A new dataset can be made, as was done on page 49, for HumesHeight.las

Switch to the dataset desired for viewing

Change the view to

Back to LAStools

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Fill out lasheight as follows: Use HumesClassified.las as the file name for output

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OK

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Wait for processing to finish

Close when done.

A new dataset can be made, as was done on page 49, for HumesClassified.las

Water Classification

Water cannot be classified with LAStools

To classify the water areas, a feature class has to be found for the area that has the bodies of water outlined as closed polygons (this can be a shape file).

The creation of that shape file was created by:

1. Downloading Landsat 8 imagery of the area from the USGS web site – Earth Explorer

2. Processing the data set using the near infra red wavelength through PCI Geomatica and extracting polygons of low infra red reflectance (this is water).

3. Converting the extracted polygons to shape format using PCI Geomatica

Once the shape file was created, a built in LIDAR tool in ArcMap is then used to classify those LIDAR points within the zone (polygon) that is water as the water class (ASPRS #9).

The 3D Analyst Tools are used

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Open the shape file of the water

Set the New Class to 9

OK

Switch to the dataset desired for viewing

Change the view to

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Appendix:

What is lidar data?

Lidar (light detection and ranging) is an optical remote-sensing technique that uses laser light to densely sample the surface of the earth, producing highly accurate x,y,z measurements. Lidar, primarily used in airborne laser mapping applications, is emerging as a cost-effective alternative to traditional surveying techniques such as photogrammetry. Lidar produces mass point cloud datasets that can be managed, visualized, analyzed, and shared using ArcGIS.

The major hardware components of a lidar system include a collection vehicle (aircraft, helicopter, vehicle, and tripod), laser scanner system, GPS (Global Positioning System), and INS (inertial navigation system). An INS system measures roll, pitch, and heading of the lidar system.

Lidar is an active optical sensor that transmits laser beams toward a target while moving through specific survey routes. The reflection of the laser from the target is detected and analyzed by receivers in the lidar sensor. These receivers record the precise time from when the laser pulse left the system to when it is returned to calculate the range distance between the sensor and the target. Combined with the positional information (GPS and INS), these distance measurements are transformed to measurements of actual three-dimensional points of the reflective target in object space.

The point data is post-processed after the lidar data collection survey into highly accurate georeferenced x,y,z coordinates by analyzing the laser time range, laser scan angle, GPS position, and INS information.

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Lidar laser returns

Laser pulses emitted from a lidar system reflect from objects both on and above the ground surface: vegetation, buildings, bridges, and so on. One emitted laser pulse can return to the lidar sensor as one or many returns. Any emitted laser pulse that encounters multiple reflection surfaces as it travels toward the ground is split into as many returns as there are reflective surfaces.

The first returned laser pulse is the most significant return and will be associated with the highest feature in the landscape like a treetop or the top of a building. The first return can also represent the ground, in which case only one return will be detected by the lidar system.

Multiple returns are capable of detecting the elevations of several objects within the laser footprint of an outgoing laser pulse. The intermediate returns, in general, are used for vegetation structure, and the last return for bare-earth terrain models.

The last return will not always be from a ground return. For example, consider a case where a pulse hits a thick branch on its way to the ground and the pulse does not actually reach the ground. In this case, the last return is not from the ground but from the branch that reflected the entire laser pulse.

Lidar point attributes

Additional information is stored along with every x, y, and z positional value. The following lidar point attributes are maintained for each laser pulse recorded: intensity, return number, number of returns, point classification values, points that are at the edge of the flight line, RGB (red, green, and blue) values, GPS time, scan angle, and scan direction. The following table describes the attributes that can be provided with each lidar point.

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Lidar attribute Description

Intensity The return strength of the laser pulse that generated the lidar point.

Return number

An emitted laser pulse can have up to five returns depending on the features it is reflected from and the capabilities of the laser scanner used to collect the data. The first return will be flagged as return number one, the second as return number two, and so on.

Number of returns

The number of returns is the total number of returns for a given pulse. For example, a laser data point may be return two (return number) within a total number of five returns.

Point Classification

Every lidar point that is post-processed can have a classification that defines the type of object that has reflected the laser pulse. Lidar points can be classified into a number of categories including bare earth or ground, top of canopy, and water. The different classes are defined using numeric integer codes in the LAS files.

Edge of flight line

The points will be symbolized based on a value of 0 or 1. Points flagged at the edge of the flight line will be given a value of 1, and all other points will be given a value of 0.

RGBLidar data can be attributed with RGB (red, green, and blue) bands. This attribution often comes from imagery collected at the same time as the lidar survey.

GPS time The GPS time stamp at which the laser point was emitted from the aircraft. The time is in GPS seconds of the week.

Scan angle

The scan angle is a value in degrees between -90 and +90. At 0 degrees, the laser pulse is directly below the aircraft at nadir. At -90 degrees, the laser pulse is to the left side of the aircraft, while at +90, the laser pulse is to the right side of the aircraft in the direction of flight. Most lidar systems are currently less than ±30 degrees.

Scan direction

The scan direction is the direction the laser scanning mirror was traveling at the time of the output laser pulse. A value of 1 is a positive scan direction, and a value of 0 is a negative scan direction. A positive value indicates the scanner is moving from the left side to the right side of the in-track flight direction, and a negative value is the opposite.

What is a point cloud?

Post-processed spatially organized lidar data is known as point cloud data. The initial point clouds are large collections of 3D elevation points, which include x, y, and z, along with additional attributes such as GPS time stamps. The specific surface features that the laser encounters are classified after the initial lidar point cloud is post-processed. Elevations for the ground, buildings, forest canopy, highway overpasses, and anything else that the laser beam encounters during the survey constitutes point cloud data.

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Lidar point classification

Every lidar point can have a classification assigned to it that defines the type of object that has reflected the laser pulse. Lidar points can be classified into a number of categories including bare earth or ground, top of canopy, and water. The different classes are defined using numeric integer codes in the LAS files.

Classification codes were defined by the American Society for Photogrammetry and Remote Sensing (ASPRS) for LAS formats 1.1, 1.2, or 1.3.

Only LAS 1.1 and higher has a predefined classification system in place. Unfortunately, the LAS 1.0 specification does not have a predefined classification scheme, nor do the files summarize what, if any, class codes are used by the points. You need to be given this information from the data provider.

Classification Bit Field Encoding

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When a classification is carried out on lidar data, points may fall into more than one category of the classification. Classification bit fields are used to provide a secondary description or classification for lidar points. With the LAS version 1.0, a lidar point could not simultaneously maintain two assigned classification attributes.

For example, a lidar return from water may need to be removed from the final output dataset, but it still should remain and be managed in the LAS file as a collected lidar point. Using LAS version 1.0, this point could not be set as both water and withheld from analysis.

In later versions (LAS 1.1, 1.2, and 1.3), the original eight-bit encoded field was split to solve this problem. The lower five bits were used to define the classification codes 0 through 31, and the three high bits were used for flags. Three classification flags were added to the LAS standard to flag points with information additional to the traditional classification. Synthetic, key-point, and withheld flags can be set for each lidar point. These flags can be set along with the classification codes.

For example, in LAS versions 1.1, 1.2, and 1.3, a water record could be given a classification code for water (9), as well as a withheld flag. The point will remain in the dataset but will be withheld from any additional analysis on the LAS files.

The following table describes the bit definition for LAS classification.

Classification Bit Field EncodingBits

Field Name Description

0–4 Classification The ASPRS standard classification shown below

5 Synthetic A point that was created by other than lidar collection, such as digitized from a photogrammetric stereo model

6 Key-point A point considered to be a model key-point and should not be withheld in any thinning algorithm

7 Withheld The point should not be included in processing

Classification Codes

If you are working with the LAS 1.1, 1.2, or 1.3 specification, refer to the predefined classification schemes defined by American Society for Photogrammetry and Remote Sensing (ASPRS) for the desired data category. The following table lists the LAS classification codes defined by ASPRS.

ASPRS Standard Lidar Point Classes

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Classification Value (bits 0-4) Meaning

0 Never classified1 Unassigned2 Ground3 Low Vegetation4 Medium Vegetation5 High Vegetation6 Building7 Noise8 Model Key9 Water10 Reserved for ASPRS

Definition11 Reserved for ASPRS

Definition12 Overlap13–31 Reserved fro ASPRS

Definition