Table 2.

Summary of LiDAR 3D reconstruction solutions.

References	Class	Wavelength	LiDAR Model	Combination	Accuracy	Resolution
Reineman [53]	ToF	905 nm	Riegl LMS-Q240i	Camera, GPS	0.42 m	0.5 m
Cadalli [54]	ToF	532 nm	U.S. Navy prototype	PMT + 64 × 64 CCD	-	≈10 m
Pellen [55]	UWTD1	532 nm	ND:YAG laser	PMT	-	-
Mullen [56,57]	UWTD1	532 nm	ND:YAG laser	PMT + Microwave	-	-

${}^1$ Underwater target detection. No 3D reconstruction.