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Welcome to the HELIOS++ wiki!

The Heidelberg LiDAR Operations Simulator (HELIOS++) is a highly flexible laser scanning simulation framework implemented in C++ and offers Python bindings via pyhelios. It is split up into a core component and multiple extension modules. Extensible Markup Language (XML) is used to define scanner, platform and scene models and to configure the behavior of modules.

The first release was implemented as a Java library and is still available here. It can be used for visualization and educational purposes, but is considered deprecated.

How to cite

If you use HELIOS++ in your research, please cite

Winiwarter, L., Esmorís Pena, A., Weiser, H., Anders, K., Martínez Sanchez, J., Searle, M., Höfle, B. (2021): Virtual laser scanning with HELIOS++: A novel take on ray tracing-based simulation of topographic 3D laser scanning. arXiv:2101.09154. [cs.CV]

BibTeX Entry:

@misc{winiwarter2021virtual,
      title={Virtual laser scanning with HELIOS++: 
             A novel take on ray tracing-based simulation 
             of topographic 3D laser scanning}, 
      author={Lukas Winiwarter and Alberto Manuel Esmorís Pena 
              and Hannah Weiser and Katharina Anders and 
              Jorge Martínez Sanchez and Mark Searle 
              and Bernhard Höfle},
      year={2021},
      eprint={2101.09154},
      archivePrefix={arXiv},
      primaryClass={cs.CV}
}