Contents -- Preface -- The Authors -- List of Abbreviations -- Chapter 1 Laser Scanning Technology -- 1.1 Basic measurement principles of laser scanners -- 1.1.1 Time-of-flight measurement -- 1.1.2 Phase measurement techniques -- 1.1.3 Triangulation-based measurements -- 1.2 Components of laser scanners -- 1.2.1 Light sources -- 1.2.2 Laser beam propagation -- 1.2.3 Photodetection -- 1.2.4 Propagation medium and scene effects -- 1.2.5 Scanning/projection mechanisms -- 1.3 Basics of airborne laser scanning -- 1.3.1 Principle of airborne laser scanning -- 1.3.2 Integration of on-board systems -- 1.3.3 Global Positioning System/Inertial Measurements Unit combination -- 1.3.4 Laser scanner properties -- 1.3.5 Pulse repetition frequency and point density -- 1.3.6 Multiple echoes and full-waveform digitisation -- 1.3.7 Airborne laser scanner error budget -- 1.4 Operational aspects of airborne laser scanning -- 1.4.1 Flight planning -- 1.4.2 Survey flight -- 1.4.3 Data processing -- 1.4.4 Airborne laser scanning and cameras -- 1.4.5 Advantages and limitations of airborne laser scanning -- 1.5 Airborne lidar bathymetry -- 1.6 Terrestrial laser scanners -- Acknowledgements -- References -- Chapter 2 Visualisation and Structuring -- 2.1 Visualisation -- 2.1.1 Conversion of point clouds to images -- 2.1.2 Point-based rendering -- 2.2 Data structures -- 2.2.1 Delaunay triangulation -- 2.2.2 Octrees -- 2.2.3 k-D tree -- 2.3 Point cloud segmentation -- 2.3.1 3D Hough transform -- 2.3.2 The random sample consensus algorithm -- 2.3.3 Surface growing -- 2.3.4 Scan line segmentation -- 2.4 Data compression -- References -- Chapter 3 Registration and Calibration -- 3.1 Geometric models -- 3.1.1 Rotations -- 3.1.2 The geometry of terrestrial laser scanning -- 3.1.3 The geometry of airborne laser scanning -- 3.2 Systematic error sources and models.

3.2.1 Systematic errors and models of terrestrial laser scanning -- 3.2.2 Errors and models for airborne laser scanning -- 3.3 Registration -- 3.3.1 Registration of terrestrial laser scanning data -- 3.3.2 Registration of airborne laser scanning data -- 3.4 System calibration -- 3.4.1 Calibration of terrestrial laser scanners -- 3.4.2 Calibration of airborne laser scanners -- Summary -- References -- Chapter 4 Extraction of Digital Terrain Models -- 4.1 Filtering of point clouds -- 4.1.1 Morphological filtering -- 4.1.2 Progressive densification -- 4.1.3 Surface-based filtering -- 4.1.4 Segment-based filtering -- 4.1.5 Filter comparison -- 4.1.6 Potential of full-waveform information for advanced filtering -- 4.2 Structure line determination -- 4.3 Digital terrain model generation -- 4.3.1 Digital terrain model determination from terrestrial laser scanning data -- 4.3.2 Digital terrain model quality -- 4.3.3 Digital terrain model data reduction -- References -- Chapter 5 Building Extraction -- 5.1 Building detection -- 5.2 Outlining of footprints -- 5.3 Building reconstruction -- 5.3.1 Modelling and alternatives -- 5.3.2 Geometric modelling -- 5.3.3 Formal grammars and procedural models -- 5.3.4 Building reconstruction systems -- 5.4 Issues in building reconstruction -- 5.4.1 Topological correctness, regularisation and constraints -- 5.4.2 Constraint equations and their solution -- 5.4.3 Constraints and interactivity -- 5.4.4 Structured introduction of constraints and weak primitives -- 5.4.5 Reconstruction and generalisation -- 5.4.6 Lessons learnt -- 5.5 Data exchange and file formats for building models -- References -- Chapter 6 Forestry Applications -- 6.1 Introduction -- 6.2 Forest region digital terrain models -- 6.3 Canopy height model and biomass determination -- 6.4 Single-tree detection and modelling -- 6.5 Waveform digitisation techniques.

6.6 Ecosystem analysis applications -- 6.7 Terrestrial laser scanning applications -- 6.7.1 Literature overview -- 6.7.2 Forest inventory applications -- References -- Chapter 7 Engineering Applications -- 7.1 Reconstruction of industrial sites -- 7.1.1 Industrial site scanning and modelling -- 7.1.2 Industrial point cloud segmentation -- 7.1.3 Industrial object detection and parameterisation -- 7.1.4 Integrated object parameterisation and registration -- 7.2 Structural monitoring and change detection -- 7.2.1 Change detection -- 7.2.2 Point-wise deformation analysis -- 7.2.3 Object-oriented deformation analysis -- 7.2.4 Outlook -- 7.3 Corridor mapping -- 7.3.1 Power line monitoring -- 7.3.2 Dike and levee inspection -- 7.4 Conclusions -- References -- Chapter 8 Cultural Heritage Applications -- 8.1 Accurate site recording: 3D reconstruction of the treasury (Al-Kasneh) in Petra, Jordan -- 8.2 Archaeological site: scanning the pyramids at Giza, Egypt -- 8.3 Archaeological airborne laser scanning in forested areas -- 8.4 Archaeological site: 3D documentation of an archaeological excavation in Mauken, Austria -- 8.5 The archaeological project at the Abbey of Niedermunster, France -- References -- Chapter 9 Mobile Mapping -- 9.1 Introduction -- 9.2 Mobile mapping observation modes -- 9.2.1 Stop-and-go mode -- 9.2.2 On-the-fly mode -- 9.3 Mobile mapping system design -- 9.3.1 General system design -- 9.3.2 Imaging and referencing -- 9.3.3 Indoor applications -- 9.3.4 Communication and control -- 9.3.5 Processing flow -- 9.4 Application examples -- 9.4.1 Railroad-track based systems -- 9.4.2 Road-based systems -- 9.5 Validation of mobile mapping systems -- Conclusions -- References -- Index.