Abstract
Light detection and ranging (LiDAR) data are rendered in two primary formats, discrete point cloud and full-waveform. Discrete point cloud is the most commonly used format; it stores locations and other attributes of detected objects from discrete sampling of return laser echoes. Conversely, the full-waveform LiDAR data record is a continuous return signal with a time function that can potentially detect weak pulses and provide extra waveform parameters (e.g., echo amplitude and width). However, full-waveform LiDAR data can be more difficult to interpret visually and are usually decomposed into various components before use. This chapter introduces the storage, indexing, and reading methods of these two LiDAR data formats.
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