The Ultimate Point Cloud & Trajectory Adjustment using SLAM

Applanix LiDAR QC

What are Applanix LiDAR QC Tools?

Original - LiDAR Scan of Silo
Processed - LiDAR Scan of Silo

Applanix LiDAR QC Tools are a set of POSPac software tools developed by Trimble to achieve the highest level of georeferencing accuracy with LiDAR sensors. Applanix LiDAR QC Tools support boresight calibration between IMU and LiDAR sensor, trajectory adjustment and LAS file point cloud generation. Depending on the license purchased it either supports boresight calibration and LAS file generation or it supports all three components.

The Applanix LiDAR QC Tools creates Voxels (3D pixels) from the LiDAR data and matches these in overlap regions. It then runs an iterative least squares adjustment using the matched points to solve for the constant IMU boresight angles, and optionally makes corrections to the trajectory (position and orientation) used to generate the points. The boresight misalignment angles are ready to be applied in third party software with either the original or corrected trajectory file, or a new trajectory file can be exported with the boresights applied.

The software is hardware-agnostic and can work on any LiDAR system.

Jump to features and benefits.

Boresight Calibration

Original - LiDAR Scan of Power Lines
Processed - LiDAR Scan of Power Lines

Boresight calibration is an important part of UAV & Mobile Mapping LiDAR integration because misalignment between the IMU and LiDAR frame will result in a less accurate point cloud.

Applanix LiDAR QC Tools precisely estimates the boresight misalignment angles between an Applanix IMU and a synchronized LiDAR scanner. No ground reference is required.

The software is hardware-agnostic and can work with any LiDAR system.

Trajectory Adjustment

Trajectory Adjustment allows for trajectory correction based on overlapping LiDAR points. The LiDAR Sensor becomes an aiding sensor to GNSS-INS – contributing to trajectory optimization. This optional feature is supported in the UAV business as well in the Land Mobile Mapping industry. It can be very powerful in GNSS-denied areas (e.g. urban or foliage area) and for mapping systems with inertial sensors of lower accuracy.

Building Front With LiDAR QC


  • Precise estimation of boresight misalignment angles between IMU and LiDAR
  • LAS file generator
  • Export of boresight corrected trajectory
  • Trajectory adjustment based on overlapping LiDAR point cloud


  • Precise geo-referencing of LiDAR data
  • Trajectory optimization by aiding LiDAR data
  • Trajectory improvement in difficult GNSS environments
  • Avoid point cloud mismatch
  • Embedded in POSPac workflow - no 3rd party software required and hence direct handshake

Purchase and Demo Options

Our completely integrated post-processing workflow in POSPac MMS or POSPac UAV makes it easy to run the tools automatically, with the push of a button. Our purchasing options mean you can use only what you need by choosing from our boresight-only or boresight and trajectory adjustment licences.

Contact us to add a free trial to your POSPac licence

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About Applanix POSPac MMS 9

Applanix POSPac Mobile Mapping Suite, now with Applanix POSPac Trimble Post-Processed CenterPoint® RTX™ (PP-RTX), is our next generation, industry-leading software for Direct Georeferencing of mobile mapping sensors using GNSS and inertial technology. It is optimized for all environments and platforms (air, land, marine) and compatible with a variety of mapping sensors. This smart software solution achieves both maximum accuracy and maximum efficiency for Direct Georeferencing.

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