Table 5.

Selected intensity correction and calibration methods exclusively for bathymetric LIDAR.

Reference	Scanner	Level	Targets	Parameters	Theoretical Model	Empirical Model
Tuell et al. [86]	(ALB) Optech SHOALS	3	homogeneous surface (wall covered in painted tiles)	See [86] for derivations of parameters applied.	See Equation (28) in [86] for final model	n/a
Collin et al. [35]	(ALB) Optech SHOALS	1	n/a	received power (PR) constant combining loss factors (W) transmitted power (PT) benthic reflectance (ρ) diffuse attenuation coeff. (K) depth (D)	$P_R=W\times P_T\times \rho \times e^{-2KD}$	Fourier transform with low-pass filtering, then a nonlinear least squares regression correction for depth.
Wang & Philpot [84]	(ALB) Optech SHOALS	1	n/a	Bathymetric angle of incidence (θi) Derived coefficients (C)	n/a	Correction for bottom reflectance: $f\left({\mathit{\theta }}_i\right)=C_1\times {\mathit{\theta }}_i+C_2$ Correction for pulse stretching: $g\left(\mathbf{\theta }\right)=\{\begin{array}{c}{C}_3 e^{C_4{\theta }_i}\text{, }-90°<{\theta }_i\le 0°\\ C_5{e}^{C_6{\theta }_i}\text{, }0°\le {\theta }_i\le 90°\end{array}$