Virtual laser scanning with HELIOS++: A novel take on ray tracing-based simulation of topographic 3D laser scanning

• DOI: 10.48550/arxiv.2101.09154
• Publication Date: 2021-01-01
• Authors: Lukas Winiwarter; Alberto Manuel Es...; Hannah Weiser; Katharina Anders; Jorge Martínez Sa...; Mark S. Searle; Bernhard Höfle
• Keywords: Laser Scanning; Python; Memory footprint

Topographic laser scanning is a remote sensing method to create detailed 3D point cloud representations of the Earth's surface. Since data acquisition expensive, simulations can complement real given certain premises are available: i) model scene and scanner, ii) beam-scene interaction, simplified computationally feasible while physically realistic level, iii) an application for which simulated fit use. A number simulators different purposes exist, we enrich by presenting HELIOS++. HELIOS++ open-source simulation framework terrestrial static, mobile, UAV-based airborne implemented in C++. The concept provides flexible solution trade-off between physical accuracy (realism) computational complexity (runtime, memory footprint), as well ease use configuration. Unique features include availability Python bindings (pyhelios) controlling simulations, range types representation. further allows beam divergence using subsampling strategy, able full-waveform outputs basis analysis. As generation analysis waveforms strongly impact runtimes, user may set level detail subsampling, or optionally disable output altogether. assessment considerations comparison its predecessor, HELIOS, reveal reduced runtimes up 83 %. At same time, requirements 94 %, allowing much larger (i.e. more complex) scenes be loaded into hence virtually acquired simulation.