LESS LiDAR: A Full-Waveform and Discrete-Return Multispectral LiDAR Simulator Based on Ray Tracing Algorithm

Light detection and ranging (LiDAR) is a widely used technology for the acquisition of three-dimensional (3D) information about wide variety physical objects environments. However, before conducting campaign, test typically conducted to assess potential utilized algorithm retrieval. It might not be real campaign but rather simulation save time costs. Here, multi-platform LiDAR model considering location, direction, wavelength each emitted laser pulse was developed based on large-scale remote sensing (RS) data image framework (LESS) model, which 3D radiative transfer simulating passive optical signals using ray tracing algorithm. The LESS simulator took footprint size, returned energy, multiple scattering, multispectrum into account. waveform point similarity were assessed with module discrete anisotropic (DART) model. Abstract realistic scenes designed simulated waveforms clouds. A comparison in abstract scene DART showed that relative error lower than 1%. In scene, airborne terrestrial scanning by modules. Their coefficients determination ranged from 0.9108 0.9984. mean 0.9698. number returns fitted well coefficient 0.9986. cloud between two sets could reach 0.9849. performance also compared HELIOS++. results over three times faster HELIOS++ when clouds scene. proposed offers modes clouds: single-ray multi-ray modes. findings demonstrate utilizing approach can significantly reduce time, 28 times, without substantially affecting overall or ground pointswhen employing rays simulations. This new integrating has great terms simultaneously images same parameters. As proof concept, normalized difference vegetation index (NDVI) multispectral vertical profiles analyzed. fulfill its design goals.