Multi-beam lidar (MBL) rangefinders are becoming increasingly compact, light, and
accessible 3D sensors, but they offer limited vertical resolution and field of view. The
addition of a degree-of-freedom to build a rotating multi-beam lidar (RMBL) has the potential
to become a common solution for affordable rapid full-3D high resolution scans. However,
the overlapping of multiple-beams caused by rotation yields scanning patterns that are more
complex than in rotating single beam lidar (RSBL). In this paper, we propose a simulation …

Multi-beam lidar (MBL) rangefinders are becoming increasingly compact, light, and
accessible 3D sensors, but they offer limited vertical resolution and field of view. The
addition of a degree-of-freedom to build a rotating multi-beam lidar (RMBL) has the potential
to become a common solution for affordable rapid full-3D high resolution scans. However,
the overlapping of multiple-beams caused by rotation yields scanning patterns that are more
complex than in rotating single beam lidar (RSBL). In this paper, we propose a simulation …