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Topographic laser scanning is a remote sensing method to create detailed 3Dpoint cloud representations of the Earth's surface. Since data acquisition isexpensive, simulations can complement real data given certain premises areavailable: i) a model of 3D scene and scanner, ii) a model of the beam-sceneinteraction, simplified to a computationally feasible while physicallyrealistic level, and iii) an application for which simulated data is fit foruse. A number of laser scanning simulators for different purposes exist, whichwe enrich by presenting HELIOS++. HELIOS++ is an open-source simulationframework for terrestrial static, mobile, UAV-based and airborne laser scanningimplemented in C++. The HELIOS++ concept provides a flexible solution for thetrade-off between physical accuracy (realism) and computational complexity(runtime, memory footprint), as well as ease of use and of configuration.Unique features of HELIOS++ include the availability of Python bindings(pyhelios) for controlling simulations, and a range of model types for 3D scenerepresentation. HELIOS++ further allows the simulation of beam divergence usinga subsampling strategy, and is able to create full-waveform outputs as a basisfor detailed analysis. As generation and analysis of waveforms can stronglyimpact runtimes, the user may set the level of detail for the subsampling, oroptionally disable full-waveform output altogether. A detailed assessment ofcomputational considerations and a comparison of HELIOS++ to its predecessor,HELIOS, reveal reduced runtimes by up to 83 %. At the same time, memoryrequirements are reduced by up to 94 %, allowing for much larger (i.e. morecomplex) 3D scenes to be loaded into memory and hence to be virtually acquiredby laser scanning simulation.

Virtual laser scanning with HELIOS++: A novel take on ray tracing-based simulation of topographic 3D laser scanning