<a href="//commons.wikimedia.org/wiki/Category:Orthographic_projections" title="Category:Orthographic projections">Orthographic projection</a> of a registered <a href="//commons.wikimedia.org/wiki/Category:Point_clouds" title="Category:Point clouds">point cloud</a> captured over 18 seconds using an Ouster OS1 <a href="https://en.wikipedia.org/wiki/lidar" class="extiw" title="w:lidar">lidar</a> mounted on a moving car.  Approximately 23 million points were produced by the lidar during this time. The points are <a href="https://en.wikipedia.org/wiki/point_set_registration" class="extiw" title="w:point set registration">registered</a> in real time as the vehicle's trajectory is estimated using a <a href="https://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping" class="extiw" title="w:Simultaneous localization and mapping">simultaneous localization and mapping</a> algorithm. The points are coloured by a function based on raw lidar intensity (i.e. return strength) multiplied by range, with orange signifying brighter regions, and dark blue signifying darker regions. Lidar is a popular sensor for <a href="https://en.wikipedia.org/wiki/Self-driving_car" class="extiw" title="w:Self-driving car">self driving cars</a>. <br>Intersection of Folsom and Dore St, San Francisco, US.
<a href="//commons.wikimedia.org/wiki/User:Dllu" title="User:Dllu">Daniel L. Lu</a>
CC BY 4.0
<span class="int-own-work" lang="en">Own work</span>