Small-footprint Laser Scanning Simulator for System Validation, Error Assessment, and Algorithm Development

Airborne lidar systems have come to be extensively used in photogrammetry and mapping sciences. In this paper, a high-quality simulation approach and methods of smallfootprint lidar processing are presented and discussed, validated for tree height estimation, and demonstrated for scanning geometry effects analysis and mobile mapping. The simulation method implemented combines both spatial and radiometric components to produce realistic waveform and point cloud data for system performance analysis and for algorithm development for lidar data processing and mapping purposes. Waveform data generated by the simulator were shown to demonstrate the possibilities of such an approach in system and data verification. As the related empirical data are insufficient for effective research and exploitation in mapping purposes at the moment, the simulated waveform data are needed. A tree location accuracy of 15 cm and tree height underestimation of 0.33 m was found using the simulation model for the TopEye Mk II laser scanner, compared to the artificial forest model reference data. Modeling of light