Rigorous 3D error analysis of kinematic scanning LIDAR systems

By C. Glennie. 2007

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Development of a UAV-LiDAR System with Application to Forest Inventory (2012, background): “Even small errors in the observation of orientation and position result in substantial on ground displacements in point measurements [19].”
Analyzing High Resolution Topography for Advancing the Understanding of Mass and Energy Transfer Through Landscapes: A Review (2015, methodology): “For example, complete metadata, including SBET (Smoothed Best Estimate of Trajectory) information of the data collection, will allow for analysis of error in relation to flight parameters such as scan angle, and use of intensity data to identify the relationship between error and ground/vegetation t”
High spatial resolution three-dimensional mapping of vegetation spectral dynamics using computer vision (2013, background): “WithLIDAR,observational error models and the effects on accuracy of different sensor parameters including altitude and scan resolution are well understood thanks to decades of research (Glennie, 2007; Næsset, 2009).”
An overview of depth cameras and range scanners based on time-of-flight technologies (2016, methodology): “A mathematical model of the Velodyne HDL-64E range scanner was developed in [23,24] together with a calibration model and a practical method for estimating the model parameters.”