Table 1.

Specifications of the 3D LiDAR device used in this research.

Type	Time of flight pulsed, very-high speed
Max. measurement distance	300 m
Max. scanning rate	5000 points/sec
Field of view	Vertical	270°
	Horizontal	360°
Accuracy of single measurement	Distance	4 $\mathrm{mm}$
	Angle	60 $\mathsf{\mu }\mathrm{rad}$