3D Point Cloud Processing
Sensors, Algorithms, Applications.
The reference book for engineers, researchers and students. LiDAR physics to neural rendering, paired with a hands-on video course.
by Abderrazzaq Kharroubi, University of Liège
19 chapters · 5 parts
- Written from
- A decade of hands-on LiDAR fieldwork across heritage, mobility and powerline corridors, written up as the reference the author wanted when starting out.
- Taught to
- 2,000+ students online and an audience of 12,000 LiDAR professionals following the author's notes on LinkedIn.
- Grounded in
- Research and teaching at the University of Liège, where the author works on LiDAR and 3D point clouds.
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- Chapters
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- Parts
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- Algorithms
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- Free chapters
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- Videos planned
§ 01The book
A reference, not a tutorial
Nineteen chapters across five parts, from LiDAR sensor physics to neural rendering. Each chapter follows the same arc: the idea first, then the mathematics, then practical guidance.
Part I
Foundations
What a point cloud is, the physics of laser ranging, how scans are acquired, and the formats that store them.
Part II
Preprocessing
Turning raw scans into clean, aligned data: sampling, denoising, normal estimation, and registration.
Part III
Core Processing
The workhorse algorithms: ground extraction, local features, segmentation, classification, and descriptors.
Part IV
Advanced Processing
Change detection, surface reconstruction, and object reconstruction toward BIM-ready geometry.
Part V
Frontiers
Where the field is heading: applications, deep learning, and neural rendering with Gaussian splatting.
§ 02Free preview
Read four chapters in your browser
No signup required. Paid chapters open with a free preview of their opening section as their web versions go live.
- 01Introduction to 3D Point CloudsWhat a point cloud is, where it comes from, and the pipeline this book follows.
- 02LiDAR PrinciplesThe physics of laser ranging, from the pulse outward to the georeferenced point.
- 03Acquisition SystemsAirborne, terrestrial, mobile, UAV, handheld: how to choose, and what each one quietly fails at.
- 17ApplicationsWhere the algorithms go to work: mapping, infrastructure, heritage, autonomous systems.
§ 03Stay in the loop
Hear when the full book ships
Drop your email and I will let you know the moment the book is ready. No marketing series, no follow-up sequence. One email.
§ 04Pricing
Three tiers, no recurring charges
Buy once, own forever, with a 30-day refund if it is not for you.
Book
The complete reference PDF.
One payment, lifetime access
- Included: Read chapters online as they are published
- Included: The complete book PDF on release
- Included: Free updates for life
- Included: Reading progress, synced across your devices
- Included: 30-day money-back guarantee
- Not included: Companion video course (22 videos, in production)
- Not included: Video progress tracking in your dashboard
- Not included: Practice kit: real LiDAR datasets per chapter (in production)
- Not included: Worked notebooks for the book's algorithms (in production)
- Not included: A 45-minute 1:1 working session on your own data
Book + Videos
Theory and hands-on practice.
One payment, lifetime access
- Included: Read chapters online as they are published
- Included: The complete book PDF on release
- Included: Free updates for life
- Included: Reading progress, synced across your devices
- Included: 30-day money-back guarantee
- Included: Companion video course (22 videos, in production)
- Included: Video progress tracking in your dashboard
- Not included: Practice kit: real LiDAR datasets per chapter (in production)
- Not included: Worked notebooks for the book's algorithms (in production)
- Not included: A 45-minute 1:1 working session on your own data
Practitioner
The book, the videos, and working on your own data.
One payment, lifetime access
- Included: Read chapters online as they are published
- Included: The complete book PDF on release
- Included: Free updates for life
- Included: Reading progress, synced across your devices
- Included: 30-day money-back guarantee
- Included: Companion video course (22 videos, in production)
- Included: Video progress tracking in your dashboard
- Included: Practice kit: real LiDAR datasets per chapter (in production)
- Included: Worked notebooks for the book's algorithms (in production)
- Included: A 45-minute 1:1 working session on your own data