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Visualisation of urban airborne laser scanning data with occlusion images

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Figure

Figure 1: Left: Pulses are emitted at regular, angular intervals in scan lines. For each pulsea number of echoes may be detected
Figure 2: As described in (Hinks et al., 2009), high quality point data for urban areas canbe obtained from heavily overlapped flight strips (left) in two diagonal directions (right).
Table 1: Specifications of the airborne LiDAR system and the collected data
Figure 3: Comparison between the proposed occlusion image and other common imagetypes used for ALS data visualisation: (a) colour image generated from colour valuesassociated with ALS points, (b) intensity image constructed from the return laser pulseinten
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