Model of Measuring Slop from Raw Data of Full-waveform Topographic lidar

A novel model for measuring the target's slop based on the raw data of full-waveform topographic lidar is proposed. We discussed the range resolution of full-waveform topographic lidar was limited by several key parameters, including the sampling period, laser pulse width and the time period of sub-waveform. A physical model was established to calculate the target's slop and the number of the sub-waveform divided within the whole echo by algorithm. When the lidar equation and the backscatter cross-section equation were described by Gaussian functions, the receiver response function can be also described by Gaussian function. Based on geometry relationship, the expressions of the target's slop can be described by the laser's divergence angle and the marked time of the sub-waveform. This work can be used for improving accuracy and range detection and details of target's slop in future.