Table 2 The specifications of the lidar scanner used in this study

Laser wavelength, nm

1550

Laser beam divergence, mrad

0.19

Pulse rate, kHz

244

Maximum scanning rate, Hz

97

Distance accuracy

2 mm @10 m @ 90% reflectance

Field of view, °

Horizontal: 360°; Vertical: 300°

Angular resolution, °

Horizontal: 0.009°; Vertical: 0.009°

Detection range, m

0.6–130 m indoor or outdoor with upright incidence to a 90% reflective surface

Scanner weight, kg

5.2

Dimensions, mm

240 × 200 × 100

Beam diameter at exit, mm

2.25

Laser class

Laser class 1