Nature research paper: Lidar reveals pre-Hispanic low-density urbanism in the Bolivian Amazon
). The sensor used was a Riegl VUX-1 scanner, with a Trimble APX-15 UAV GNSS, attached to a Eurocopter AS350 helicopter using a custom mount. The laser pulse repetition rate was 200 kHz. Flight altitude was 200 m above ground level, airspeed was 45 knots. Missions were flown in 200-m parallel strips, with 50% overlap. Data post-processing was done by M.S. using the RIEGL software RiAnalyze.
Despite these errors, accuracy in the visualization of the archaeological structures is good. Raw point cloud densities varied between 13 million and 20 million points per km. The filtering was done automatically taking into account, from the outset, only the last pulses and points with only one reflection. The macros created to pre-classify the point cloud were tested using tiles that best reflected the nature of the terrain.
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