Laser scanner angular resolution greatly depends on both the spatial sampling interval and laser beam-width, though often the former is emphasized and the latter overlooked. Given the widespread use of 3-D laser scanners, a rigorous metric that unifies both factors is necessary to accurately model system resolution. A new resolution measure that incorporates both sampling and beamwidth is derived using an ensemble average linear system theory. Analysis of two commercially available scanning systems demonstrates the need for the new measure.
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