Camera-Aided Orientation of Mobile Lidar Point Clouds Acquired from an Uncrewed Water Vehicle.

This article presents a system for recording 3D point clouds of riverbanks with a mobile lidar mounted on an uncrewed water vehicle. The focus is on the orientation of the platform and the lidar sensor. Rivers are areas where the conditions for highly accurate GNSS can be sub-optimal due to multipath effects from the water and shadowing effects by bridges, steep valleys, trees, or other objects at the riverbanks.