Fundamentals and

Applications of
Airborne LiDAR in
Engineering and
Geosciences

Speaker: Azadeh Koohzare, Ph.D., P.Eng.

Slide #1
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LIDAR (Light Detection and Ranging)

Dist = T (2way) / 2 * c

Slide #2
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 Components of LiDAR

LiDAR Components:

- GPS
- IMU (Inertial Measuring Unit)
GPS Base
- Scanner

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LiDAR data by Elevation

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Extracted LiDAR data over Orthophoto

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Aerial Photograph Bare Earth LiDAR

Kerr Sulphurets site

100 m
1000 m
Ankor DTM Expanded HiRes

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 Slide #8
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 Slide #9
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 Slide #10
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 Outlines
 LiDAR and RGB/NIR camera systems, components, and
principles
 LiDAR procedures

 Applications to Engineering and Geosciences

Forestry
Municipalities, such as 3D mapping, Planning
Other (Based on audiences field)

 LiDAR Cost
 Open Discussion

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LiDAR and RGB/NIR
Camera System

Slide #12
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ALS Leica components

Slide #13
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The Leica ALS70 Airborne LiDAR System

Slide #14
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Piper PA-31 Navajo Chieftain

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AS350 Écureuil (Squirrel)

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LiDAR and RGB/NIR
Principle

Slide #17
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Types of Airborne LiDAR Sensors

• Laser operating principles (Pulsed, CW)

• Operating wavelengths ( near--infrared, blue--green)

Number of returns

• Single Return

• Multiple Return

• Waveform—resolving
Slide #18
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“First—Return Lidars”

measure the distance to the to first

target encountered by the laser pulse

“Two—stop Lidars”:

measure the distance to first and

last targets encountered by the
laser pulse

“Multi-Stop Lidars”:

measure the distances to multiple

targets (n<<5)encountered by the
laser pulse
Slide #19
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Multiple Return LiDAR Systems

All returns (16,664 pulses)

1st returns

2nd returns (4,385 pulses, 26%)

3rd returns (736 pulses, 4%)

4th returns (83 pulses, <1%)

Slide #20
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 Can Lidar “see” through canopy?

Reality:

Lidar can “see” through gaps in canopy forming trees

Rule of thumb:

On a bright sunny day, if you can see

sunlight on the ground, Lidar will map it.

Slide #21
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 LiDAR Procedure

• Planning and Acquisition

Slide #22
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Planning Considerations
• Time of day of mission
Low PDOP values
Ionosphere activity is quieter at night

• Use choke ring antenna when possible

Reduces multipath error

• Baseline length must not exceed 30-35 km

Use multiple base stations when possible

Slide #23
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Designed Flight Lines

Grouse Mt, B.C.

Slide #24
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 System Calibration

• Corrects for mounting misalignment between

the IMU and LiDAR reference frame.

• Typically requires airborne calibration using a

reference surface test.

• Need to correct for pitch, roll, and heading

offsets

Slide #25
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System Calibration

Date Roll Pitch Heading

Run (Radians) (Radians) (Radians)
1 02-05-08 -0.00147064 0.00820129 -0.00412185
2 01-06-08 -0.00154649 0.00779986 -0.00439067
3 22-Jul-08 -0.00184145 0.00803374 -0.00445001
4 11-06-08 -0.00162780 0.00795924 -0.00438110
5 17-09-08 -0.00169924 0.00827285 -0.00417187
6 07-12-08 -0.00165212 0.00811228 -0.00411427
7 07-12-08 -0.00164832 0.00810124 -0.00417485

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 LiDAR Procedure

• Planning and Acquisition

• Post Processing

Slide #27
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 Differential GPS Positioning

• Post-processing of GPS ground and aircraft

data

• Uses the difference in the dual frequency

(L1, L2) carrier phase-derived ranges for the
ground and aircraft.

• Provides aircraft position at submeter

accuracy.

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 LiDAR Data Processing

DGPS Data Calibration and LiDAR Range

Mounting
IMU Data Parameters Scan Angle

Post Processed GPS Trajectory

and IMU Solution

Point Cloud Data X, Y,

and Z

Slide #29
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 LiDAR Process
 Dense pickup of DEM mass points
 Data reduction using Airborne GPS, IMU,
system calibration offsets, ground
Kinematic , map projection

 Result – Point cloud

 Data classification from point cloud to Bare Earth
Creation of TIN’s, Contours and other products
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Page 4 of 32
 LiDAR Procedure

• Planning and Acquisition

• Post Processing

• Sources of Errors and Accuracy

Slide #31
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Error Source 1:

Laser Ranging Accuracy

Ground tests and calibration conducted by

airborne laser manufacturers suggest that the
laser ranging is accurate to 1-5 cm.

Slide #32
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Error Source 2:

GPS positioning error

Horizontal (XY) positioning error up to 1 meter

Vertical (Z) error is much higher in sloping terrains (usually less t

than 10 cm)

Error Source 3:

Calibration Error

Slide #33
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 Error Budget

1.Laser ranging accuracy 1 –5 cm

2.GPS positioning error 5 –100 cm

3.Attitude system error 3 –15 cm

4.Terrain type (vegetation “noise”) 1 –100 cm

5.Coordinate / Datum conversions 1 –10 cm

Total Error 11 –230 cm

Slide #34
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 Determining LiDAR Errors

• Root Mean Square Error (RMSE) DOES NOT

account for offsets in data.

• Mean Error (ME) is a good indicator of any offsets in

data.

• Use GPS ground control points to improve the

overall accuracy by reducing the offsets.

Slide #35
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 Accuracy Expectations

• Vertical accuracies Based on Project reports

- Kitsault (on Gravel Surfaces)………………….12 cm

- Campbell River (In Heavy Tree cover)……… 20 cm
- Yukon Highways and Roads…………………….5 cm
- City of Vancouver…………………………..…….5 cm
- Post Flood Alberta…………………………..……7 cm
- Prince Rupert Harbor…………………………….6 cm

• Horizontal accuracies vary depending on flying

height and terrain surface

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Page 7 of 32
 LiDAR Procedure

• Planning and Acquisition

• Post Processing

• Sources of Errors and Accuracy

• Quality Control

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Quality Control

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Page 8 of 32
Ground Checks

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GPS RTK Rover

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 LiDAR Quality Control

From Stereo Photo or LiDARgrams

 Overlay Bare Earth Data
 Scan Images for voids and
erroneous points
HIGH DEGREE OF CONFIDENCE
IN ALL DELIVERABLES
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Photogrammetric WorkStation

Slide #42
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Page 8 of 32
 LiDAR Procedure

• Planning and Acquisition

• Post Processing

• Sources of Errors and Accuracy

• Quality Control

• Deliverables
Slide #43
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Deliverables

Slide #44
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LiDAR data by Elevation

Slide #45
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Profile view of LiDAR data

Slide #46
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Extracted LiDAR data over Orthophoto

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Profile view of LiDAR data

Slide #48
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Intensity Image with Shaded Relief of LiDAR data

Slide #49
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Transmission Line from LiDAR data

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Contours generated from LiDAR points

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Shaded relief with contours generated from LiDAR
points

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Page 16 of 32
2013 Calgary Post Flood Study

Slide #53
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 Applications of
LiDAR to Assist in
Detecting Geological
Structures

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Page 8 of 32
 Designed Flight Lines

Study Area

Slide #55
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 Designed Flight Lines

Min Used Used Range

Flight Swath Mean Swath Scan Laser Intens Target
Line Length Min Alt Max Alt Width Max Swath Sidelap FOV Width Rate Pulse ity Speed
Label [m] AGL [m] AGL [m] [m] Width [m] [%] [deg] [m] [Hz] Rate [Hz] Mode [kts]
000 5952.00 1265.00 1600.0 921 1165.000 15 40.00 1165.00 34.5 68600.00 5 120
001 6152.00 1372.00 1600.0 999 1165.000 15 40.00 1165.00 34.5 68600.00 5 120
002 5752.00 1480.00 1600.0 1077 1165.000 15 40.00 1165.00 34.5 68600.00 5 120
003 18008.00 1247.00 2291.0 908 1668.000 15 40.00 1668.00 35.3 51200.00 5 120
004 18008.00 1339.00 2291.0 975 1668.000 15 40.00 1668.00 35.3 51200.00 5 120
005 17608.00 1285.00 2291.0 936 1668.000 15 40.00 1668.00 35.3 51200.00 5 120
006 19569.00 611.00 2291.0 445 1668.000 15 40.00 1668.00 35.3 51200.00 5 120
007 19569.00 470.00 2291.0 342 1668.000 15 40.00 1668.00 35.3 51200.00 5 120
008 19769.00 528.00 2291.0 385 1668.000 15 40.00 1668.00 35.3 51200.00 5 120
009 19769.00 758.00 2291.0 552 1668.000 15 40.00 1668.00 35.3 51200.00 5 120
010 19569.00 1212.00 2291.0 883 1668.000 15 40.00 1668.00 35.3 51200.00 5 120
011 19569.00 1338.00 2291.0 974 1668.000 15 40.00 1668.00 35.3 51200.00 5 120
012 13182.00 1133.00 2291.0 825 1668.000 15 40.00 1668.00 35.3 51200.00 5 120
013 13582.00 1095.00 2291.0 797 1668.000 15 40.00 1668.00 35.3 51200.00 5 120
014 13182.00 969.00 2291.0 706 1668.000 15 40.00 1668.00 35.3 51200.00 5 120
015 12982.00 999.00 2291.0 728 1668.000 15 40.00 1668.00 35.3 51200.00 5 120

Average point spacing of 1.42 m or

Average point density of 0.50 pts /m².
15% average sidelap
Slide #56
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Airborne GPS Solution

Slide #57
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Page 7 of 32
 Accuracy
The comparison of the LiDAR data with Ground kinematic
GPS in NAD83-CSRS, Hv2 in meter.
Number Easting Northing Z from GPS Z from LiDAR Dz
----------------------------------------------------------------------------------
1 446980.067 6288742.851 541.439 541.230 -0.209
2 446989.952 6288741.088 541.659 541.380 -0.279
3 447000.219 6288739.484 541.840 541.640 -0.200
4 447011.241 6288737.525 542.030 541.880 -0.150
5 447022.034 6288735.632 542.160 542.020 -0.140
…

Average dz -0.090
Minimum dz -0.310
Maximum dz +0.170
Root mean square 0.169
Std deviation 0.120
Slide #58
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Page 7 of 32
LiDAR Elevation Map

Slide #59
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Aerial Photograph Bare Earth LiDAR

Kerr Sulphurets site

100 m
1000 m
What LiDAR Data Show Us?

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Page 8 of 32
Sulphurets site

1000 m
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Sulphurets site

1000 m
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Sulphurets site

1000 m
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 Slide #65
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Page 11 of 32
 Geosciences and Engineering

 GeoSciences

 Detecting Faults
 Measuring Uplift
 Accurate Elevation Models for Virtual Drillhole Control and Geological Modelling
 Monitor Glaciers and Detect Subtle Amounts of Growth or Decline
 Geological Structures
 Geodynamics (Shoreline Change)
 Forestry
 Canopy Height
 Vertical Distribution of Intercepted Surfaces-Forest Canopy Structures
 Aboveground Biomass
 Other Forest Characteristics (e.g., Estimate Basal Area and Mean Stem
Diameter for the Density of Large Trees.

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Page 17 of 32
 Forest Canopy Structures

Canopy Height

Vertical Structure

Ground Elevation

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 Other Applications of LiDAR and
Digital Air photo

 Engineering Design ( Transmission Lines)

 3D City Model and Asset Management Applications
 Civil engineering & Infrastructure development
 Corridor mapping
 Spatial planning
 Flood monitoring
 Landslide monitoring
 Erosion monitoring
 Coastline monitoring
 Irrigation management
 Coastline Analysis and Protection
 Volumetric studies
Slide #69
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Page 18 of 32
LiDAR image over rocks in heavily forested area. Kitimat Arm, BC.

500 m
Kinskuch Fault Detected from LiDAR

Kinskuch Lake

5000 m
Page 27 of 30
Kinskuch Site, B.C. Kinskuch Lake Fault

50 m

Page 31 Slideof 32 #72

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 Slide #73
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 Slide #74
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 Slide #75
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 Slide #76
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 Slide #77
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Applications
of NIR

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Combined RGB and NIRImagery
RGB
NIR Images

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 RGB and NIR Applications

NIR/CIR
 Agriculture
 Forest Classification
 Environmental Terrain Hazard Studies
 Municipal Impervious Surfaces Analysis
RGB
 Colour orthophoto
 Photogrammetric data capture
Slide #80
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 LiDAR and Orthophoto data Viewers
LIDAR – LAS file

PointVue http://www.geocue.com/utilities/pointvue.html

Orthophoto Images - ECW / TIF-TFW

ERViewer
http://www.erdas.com/Products/ERDASProductInformation/tabid/84/currentid/2585/objec
tid/2585/default.aspx

LiDAR with Orthophoto Images

MarsExplorer
http://www.merrick.com/index.php/services/geospatial-solutions/mars-
software/downloads/freeview-download-form/

LP 360 http://www.qcoherent.com/

Lasedit http://lasedit.software.informer.com/

QuickTerrain Reader http://appliedimagery.com/download.php

Slide #81
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Thank You!

Slide #82
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