Quantitative Evaluation of Angular, Range, and Reflectance Influences on Laser scanners Using a High-Precision Linear Rail Test System

Abstract. Laser scanning technology is widely used for precise 3D spatial data acquisition, but measurement precision is affected by factors such as incidence angle, target reflectivity, and range. This study focuses on the automotive-grade Robosense Airy LiDAR and compares its performance with traditional survey-grade laser scanners. Four representative laser scanners — Robosense Airy, Leica MS60 MultiStation, Leica BLK360, and Z+F IMAGER 5016 — were assessed under controlled laboratory conditions. This study quantitatively evaluates the laser scanner measurement precision using a high-precision linear rail test system. Test targets with calibrated reflectance levels were positioned at varying distances and incidence angles. Results reveal distinct performance characteristics across sensors, with survey-grade scanners demonstrating superior precision compared to automotive-grade LiDAR. Users should select sensors that match their application requirements and understand each instrument’s response characteristics to exploit its capabilities for precision.