Quantifying the Size of a Lidar Footprint: A Set of Generalized Equations

Light detection and ranging (lidar) technologies provide a practical solution to 3-D terrain mapping through laser ranging and scanning technologies. A lidar footprint, which is the critical parameter describing the size of laser sampling area, varies with the scanning geometry and the local topography encountered. Integrating the effects of the scanning geometry and terrain orientations, this letter analyzes the intersection geometry of a laser beam and the terrain and develops a set of rigorous generalized footprint equations on inclined terrain for both across-track and Palmer scanning systems.