[{"data":1,"prerenderedAt":653},["ShallowReactive",2],{"devices-scanning":3},{"counts":4,"figures":355,"study":430},{"lidar":5,"nonRepetitive":238,"statedChannels":243,"actuatedLine":247,"terrestrialInLidar":252,"springMounted":256,"rotatingDevice":264,"mems":280,"memsMentions":284,"flash":286,"tls":291},{"models":6,"refs":7,"names":8,"medianYear":237},228,281,[9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,148,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195,196,197,198,199,200,201,202,203,204,205,206,207,208,209,210,211,212,213,214,215,216,217,218,219,220,221,222,223,224,225,226,227,228,229,230,231,232,233,234,235,236],"Velodyne VLP-16","Livox Avia","Velodyne HDL-64E","Velodyne HDL-32E","Hokuyo UTM-30LX","Ouster OS0-128","Ouster OS1-64","Livox Horizon","Ouster OS0-64","Ouster OS1-128","Livox MID-360","Ouster OS1-16","Livox MID70","Ouster OS1","Velodyne VLP-32C","Hesai PandarXT-32","Hesai XT-32","Intel RealSense L515","Ouster OS0","SICK LMS","Hokuyo URG-04LX","SICK LMS-151","SICK LMS291","SICK laser range finder","16-channel OS1 gen1","3D LiDAR (model not named in the paper)","3D LiDAR (model not reported)","3D LiDAR (model not stated)","64-beam LiDAR (model not named)","64-beam LiDAR (simulated, noise-free)","Hesai PandarXT","Hesai QT64","KITTI LIDAR (model not named in the paper)","Livox MID40","Ouster OS0-32","Ouster OS2-128","RS-Helios-16P","Robosense Bpearl","SICK LMS 200","SICK PLS","SICK scanner","Velodyne (model not named)","laser range sensor (model not stated)","laser rangefinder (model not reported)","mechanical spinning LiDAR (model not named)","solid-state LiDAR (model not named)","spinning LiDAR (model not named)","128-channel LiDAR (model not reported)","16 scan-line LiDAR (model not reported)","16-beam LiDAR","16-beam LiDAR (YQ and Vicon Room rig)","16-beam Ouster (two units)","16-channel LiDAR (model not named)","16-channel Velodyne (two units)","16-channel lidar (simulated)","16-line Velodyne LiDAR","2 x OS1-16 (Table 1); text names two Velodyne VLP-16","2D LiDAR ('e.g., RPLIDAR'; exact model not reported)","2D LiDAR, horizontal (model not reported)","2D LiDAR, vertical (model not reported)","2D laser range finders, forward-looking and upward-pointed (model not reported)","2D laser scanner rolling about a horizontal axis (model not stated)","2D line laser scanner, horizontally mounted (model not reported)","2D line laser scanners, 4 vertically mounted (model not reported)","2D safety laser scanners","32-beam LiDAR (model not named)","32-beam Velodyne LiDAR scanner (model not named)","3D LiDAR (KITTI odometry scans; model not named in the paper)","3D LiDAR (KITTI; model not named in the paper)","3D LiDAR (dataset sensors; models not stated)","3D LiDAR of the KITTI raw recordings (model not named in the paper)","3D laser range finder built from a SICK 2D laser range finder on a servo-driven pitch mount (SICK model not stated)","3D laser scanner (model not stated; scans provided courtesy of RIEGL LMS GmbH)","3D solid-state LiDAR (model not stated in paper)","64-beam Ouster sensor (model not named)","64-beam Ouster with internal IMU","64-beam rotating Velodyne LiDAR (exact model not named)","64-channel LiDAR sensor (model not named in the paper)","64-channel Ouster","Aeva","Aeva Aeries II","Bpearl","DJI L1 LiDAR sensor","FARO PHOTON 120","HOKUYO URG 04LX-UG01","Hesai 128-line LiDAR","Hesai AT128","Hesai LiDAR XT32","Hesai Pandar128","Hesai Pandar64","Hesai PandarQT Lite","Hesai PandarXT (32 beams)","Hesai QT64 (64 beams)","Hesai XT32 (L1)","Hesai XT32, QT32 and QT64 (different sessions)","Hilti-Oxford 32-channel LiDAR (model not reported)","Hokuyo UST-10LX (simulated)","Hokuyo laser scanner","Hokuyo line scanner (model not_reported)","Hokuyo sensor (model number not given in the paper)","Hokuyo single-layer LiDARs (three units; model not reported)","KITTI 360 deg Velodyne laser scanner","LIVOX LiDAR (model not_reported)","LS-16C (written LS-C16 in Table VI)","Ladar 2D IBEO Lasertechnik","LiDAR (model not named)","LiDAR (model not reported; labelled 'LiDAR' in Fig. 3(a))","LiDAR (model not stated)","LiDAR integrated in the Carnegie Robotics MultiSense SL (model not stated)","LiDAR scans of the Chilean underground mine dataset (instrument not reported)","Livox Hap","Livox Tele","MID-100","NTU VIRAL horizontal and vertical LiDARs (models not stated)","OS1","OS1 (two units)","OS1 gen1 (16-channel)","Optab prototype 3D laser range finder","Optech 3100","Ouster","Ouster (model not named)","Ouster 64-beam LiDAR (model not stated)","Ouster 64-channel LiDAR","Ouster 64-channel LiDAR (model not stated)","Ouster LiDAR (model not named)","Ouster LiDAR (model not stated in DLIO)","Ouster OS-0 (128 beams)","Ouster OS-1 (128 beams)","Ouster OS-1 (64 beams)","Ouster OS-2 (128 beams)","Ouster OS1 (64-beam)","Ouster OS1-32","Ouster OS2-64","Ouster-16","Quanergy M8","Quanergy M8 (simulated)","RIEGL VQ-250","RPLiDAR A2","RPLiDAR S1","RS-LiDAR-16","Revo LDS","Riegl LMS-Q120i","Riegl Q-140","Riegl Q-240","Riegl Q-280","Riegl VZ-400","RoboSense 16-line LiDAR (model not stated)","Robosense RS-LiDAR-16","SICK 2D laser scanner, horizontal (model not reported)","SICK 2D laser scanners, 4 vertical (model not reported)","SICK 2D line laser scanner (four units; model not stated)","SICK LIDAR (12 units; model not stated)","SICK LMS 200 (tiltable, servo-pitched)","SICK LMS 291 (rotating)","SICK LMS 291 (two fixed, vertical)","SICK LMS 2D range finder","SICK LMS-151 (rotating 2D)","SICK LMS-511","SICK LMS100","SICK LMS291 (spinning)","SICK TiM781S","SICK laser range scanner","SICK laser scanner","SICK laser scanner (model not reported)","SICK lidar on a Schunk PowerCube via slip-ring contacts (with a digital camera)","SICK lidar on continuously rotating motor with slip-ring contacts (Alfred)","SICK lidar on pan\u002Ftilt unit (model not named for Tjorven)","SICK scanner (statically mounted, 2D)","SICK scanner mounted on a pan-tilt unit (3D)","SICK-LMS range finder","SLAMTEC RPLIDAR A2","Sick range-sensor","Slamtec Mapper","Spot on-board lidar (model not reported)","Terrapoint ALTMS","UTM30","VBR LiDAR (model not reported)","Velodyne 64-beam LiDAR (model not stated)","Velodyne 64E","Velodyne Alpha-Prime 128-beam","Velodyne LiDAR","Velodyne LiDAR (KITTI; model not specified in the paper)","Velodyne LiDAR (model not named)","Velodyne LiDAR (model not_reported)","Velodyne PuckLITE","Velodyne laser scanner (KITTI ground truth, model not stated)","Velodyne lidar (360 deg, model not named)","Velodyne lidar of the KITTI setup","Velodyne lidars (three per Husky; model not reported)","Velodyne range finder","Velodyne-32","Velodyne-64 LiDAR","a different version of the Velodyne HDL-64E","handheld LiDAR (model not stated in the paper)","laser scanner (model and scanning mechanism not reported)","laser scanner (model not reported)","laser scanner on FALCON (model not reported)","mechanical spinning LiDARs (models not reported)","multibeam 3-D LiDAR","not_reported (32-ray LiDAR)","not_reported (3D LiDAR of the ConSLAM handheld system)","not_reported (Ford Campus lidar data, 3817 point clouds)","not_reported (Freiburg Campus lidar data, 77 point clouds)","not_reported (KITTI LiDAR, 64 rays, 27 deg vertical FOV)","not_reported (KITTI lidar sequences 00, 05, 06, 07)","not_reported (LiDAR in ground-truth fusion pipeline)","not_reported (MulRan LiDAR, 45 deg vertical FOV)","not_reported (hand-carried LiDAR)","not_reported (hand-held LiDAR of the LiLi-OM KA Urban Campus 1 sequence)","not_reported (one LiDAR, model not named)","planar LiDAR (not used)","robot-mounted 3D laser range finder (model not stated)","rotating 3D LiDAR of the KITTI odometry benchmark (model not named in the paper)","rotating SICK laser","simulated 64-channel LiDAR","single 3D LiDAR (model not named)","single lidar on Spot (model and manufacturer not reported)","solid-state LiDAR of ref. [26] (retina-like, incommensurable scanning; model not named)","spinning and solid-state LiDARs (models not named)","stationary 2D laser scanner mounted horizontally on the vehicle's bucket (model not stated)","tiltable SICK laser scanner (Kurt3D)","tilting laser scanner (model not named)","two 16-channel Ouster LiDARs (horizontal and vertical OS1-16)","two 16-line Velodyne LiDARs (inclined)","two fixed sweeping laser scanners (model not reported)","virtual 320-beam LiDAR sensor model (Mai City ground truth)","virtual 64-beam LiDAR sensor model (Mai City scans)","virtual Velodyne HDL-64 LiDAR",2022,{"models":239,"refs":240,"names":241,"medianYear":242},7,52,[10,16,19,21,42,119,226],2023,{"models":244,"refs":245,"names":246,"medianYear":237},78,171,[9,11,12,14,15,17,18,20,22,23,24,25,27,33,37,38,40,43,44,45,46,56,57,58,59,60,61,62,63,64,65,74,75,83,84,85,86,87,90,94,96,97,98,100,101,102,103,104,125,130,131,132,135,136,137,138,139,140,141,142,143,148,155,156,186,187,188,199,200,201,208,212,223,231,232,234,235,236],{"models":248,"refs":249,"names":250,"medianYear":251},20,28,[13,28,30,31,47,49,70,80,106,158,161,162,165,168,173,174,175,177,222,229],2014,{"models":253,"refs":253,"names":254,"medianYear":255},3,[92,126,154],2012,{"models":257,"refs":239,"names":258,"medianYear":263},4,[259,260,261,262],"ZEB1","Zebedee (Zeb1) spring-mounted hand-held scanner","Zebedee handheld, first generation","Zebedee handheld, second generation",2018,{"models":265,"refs":266,"names":267,"medianYear":237},12,17,[268,269,270,271,272,273,274,275,276,277,278,279],"ZEB-REVO","Emesent Hovermap","Zeb Revo RT","Geo-SLAM ZEB-Revo","CatPack","Contour","OmniSLAM R6","SLAM-K120","SpinningPack (CSIRO perception pack)","experimental handheld 3D spinning LiDAR (as written; builder not stated)","hand-held scanner (perception module, rotation platform, computing module)","hand-held single-beam 3D spinning LiDAR device",{"models":281,"refs":281,"names":282,"medianYear":283},0,[],null,{"entries":285,"imuOnly":285},15,{"models":287,"refs":287,"names":288,"medianYear":290},1,[289],"iPhone 15 Pro flash LiDAR with Pix4D Capture app (analysed in Pix4D Catch)",2025,{"models":292,"refs":293,"names":294,"medianYear":242,"uses":354,"referenceUses":292},60,73,[295,296,297,154,298,299,300,301,302,303,304,305,306,307,308,309,310,311,312,313,314,315,316,317,318,319,320,321,322,323,324,325,326,327,328,329,330,331,332,333,334,335,336,337,338,339,340,341,342,343,344,345,346,347,348,349,350,351,352,353],"Leica RTC360","Leica BLK360","Leica ScanStation P40","FARO Focus 3D","FARO Focus","FARO Focus 3D X 330","FARO Focus M70","FARO Focus S70","RIEGL VZ-400i","Trimble X7","Trimble X9","FARO Focus 3D S120","FARO Focus 3D X120","FARO Focus 3D X330 HDR","FARO Focus Premium 70","FARO LS880 HE","Faro 880","Faro Focus M","Faro time-of-flight laser scanner (model not reported)","Imager 5016","Leica C10","Leica C10 (written 'TLS Leica C10')","Leica HDS6000","Leica HDS6100","Leica Nova MS60 MultiStation","Leica ScanStation C5","Leica Scanstation 2","RIEGL VZ-600i","Riegl VZ series et al.","Rigel VZ-1000","TLS (Terrestrial Laser Scanner), model not reported","TLS (instrument not named)","TLS (model not named)","TLS (model not stated in this paper)","TRIMBLE GS200","Trimble GX 3D (identified via ref. [44] cited for the scanner used in this research)","Z + F IMAGER 5010C","Z + F Imager 5006i","Z+F Imager 5016","commercial terrestrial laser scanner (model not reported)","geo-referenced terrestrial laser scanner (model not named)","geo-referenced terrestrial laser scans (scanner model not named)","laser scanner map with ICP (scanner models not reported)","not_reported (Scanner 1, AMCW)","not_reported (Scanner 2, TOF)","not_reported (Scanner 3, TOF)","not_reported (TLS point clouds supplied with ConSLAM)","not_reported (stationary laser scanner)","statically mounted 3D laser scanner (model not reported)","survey-grade LiDAR","survey-grade TLS point cloud map (scanner model not named)","survey-grade laser scanner (model not stated)","survey-grade lidar scanners (models not_reported)","survey-quality scanners (models not reported)","terrestrial laser scanner (model not reported)","terrestrial laser scanner from Zhai et al. 2024 (model not reported here)","terrestrial laser scanner survey-grade map (model not named)","terrestrial laser-scanning map (scanner model not reported)","terrestrial scanner (model not stated in the paper)",94,[356,371,384,396,407,420],{"refId":357,"refLabel":358,"fig":359,"whatZh":360,"license":361,"licenseUrl":362,"sourceUrl":363,"src":364,"width":365,"height":366,"thumb":367,"thumbWidth":368,"thumbHeight":369,"modified":370},"lee2024lidarodom_survey","Lee et al., 2024b","Fig. 2","掃描樣式比較：(a) 機械式 Velodyne VLP-16 的重複式垂直通道樣式，(b) 採 Risley 稜鏡的 Livox Mid-70 非重複花瓣狀樣式","CC BY 4.0 (Springer open access, licence statement in the article)","https:\u002F\u002Fcreativecommons.org\u002Flicenses\u002Fby\u002F4.0\u002F","https:\u002F\u002Fmedia.springernature.com\u002Flw1200\u002Fspringer-static\u002Fimage\u002Fart%3A10.1007%2Fs11370-024-00515-8\u002FMediaObjects\u002F11370_2024_515_Fig2_HTML.png","\u002Ffigure-files\u002Flee2024lidarodom_survey\u002Ffig-2.webp",969,503,"\u002Ffigure-files\u002Flee2024lidarodom_survey\u002Ffig-2.thumb.webp",480,249,"converted to WebP",{"refId":372,"refLabel":373,"fig":374,"whatZh":375,"license":376,"licenseUrl":377,"sourceUrl":378,"src":379,"width":380,"height":381,"thumb":382,"thumbWidth":368,"thumbHeight":383,"modified":370},"helmberger2022hilti","Helmberger et al., 2022","Fig. 1","Phasma 手持感測桿全貌與感測器配置：ADIS16445 IMU、AlphaSense 五相機模組、Ouster OS0-64、Livox MID70 與全測站稜鏡","CC BY-NC-SA 4.0 (arXiv 2109.11316v3 license as shown on the arXiv abs page; the IEEE version of record is (c) IEEE)","http:\u002F\u002Fcreativecommons.org\u002Flicenses\u002Fby-nc-sa\u002F4.0\u002F","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2109.11316v3\u002Fimgs\u002FPhasmaStick2.png","\u002Ffigure-files\u002Fhelmberger2022hilti\u002Ffig-1.webp",1363,1125,"\u002Ffigure-files\u002Fhelmberger2022hilti\u002Ffig-1.thumb.webp",396,{"refId":385,"refLabel":386,"fig":374,"whatZh":387,"license":388,"licenseUrl":389,"sourceUrl":390,"src":391,"width":392,"height":393,"thumb":394,"thumbWidth":368,"thumbHeight":395,"modified":370},"sammartano2018zeb","Sammartano & Spanò, 2018","ZEB-REVO 手持系統與旋轉測距頭（作者團隊 2017 年測試照片）","CC BY 4.0","http:\u002F\u002Fcreativecommons.org\u002Flicenses\u002Fby\u002F4.0\u002F","https:\u002F\u002Fmedia.springernature.com\u002Flw1200\u002Fspringer-static\u002Fimage\u002Fart%3A10.1007%2Fs12518-018-0221-7\u002FMediaObjects\u002F12518_2018_221_Fig1_HTML.png","\u002Ffigure-files\u002Fsammartano2018zeb\u002Ffig-1.webp",986,565,"\u002Ffigure-files\u002Fsammartano2018zeb\u002Ffig-1.thumb.webp",275,{"refId":397,"refLabel":398,"fig":399,"whatZh":400,"license":388,"licenseUrl":389,"sourceUrl":401,"src":402,"width":403,"height":404,"thumb":405,"thumbWidth":368,"thumbHeight":406,"modified":370},"feng2025_construction_lidar_eval","Feng et al., 2025","Fig. 3","施工機器人實驗平台的現場照片與前視、側視圖，標示 RS-Helios-16P、IMU、相機、Jetson NX、無線路由器位置及主要尺寸","https:\u002F\u002Fmedia.springernature.com\u002Flw1200\u002Fspringer-static\u002Fimage\u002Fart%3A10.1007%2Fs44242-025-00092-8\u002FMediaObjects\u002F44242_2025_92_Fig3_HTML.png","\u002Ffigure-files\u002Ffeng2025_construction_lidar_eval\u002Ffig-3.webp",1200,359,"\u002Ffigure-files\u002Ffeng2025_construction_lidar_eval\u002Ffig-3.thumb.webp",144,{"refId":408,"refLabel":409,"fig":410,"whatZh":411,"license":412,"licenseUrl":362,"sourceUrl":413,"src":414,"width":415,"height":416,"thumb":417,"thumbWidth":368,"thumbHeight":418,"modified":419},"lin2023immesh","Lin et al., 2023","Fig. 6","手持資料收集裝置（迷你電腦、Livox Avia 光達、預覽相機）與實驗影片畫面","CC BY 4.0 (arXiv v3)","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2301.05206v3\u002Fpics\u002Fhardware_v3.jpg","\u002Ffigure-files\u002Flin2023immesh\u002Ffig-6.webp",1400,482,"\u002Ffigure-files\u002Flin2023immesh\u002Ffig-6.thumb.webp",165,"resized to at most 1400 px wide and converted to 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