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One billion people live in informal settlements worldwide. The complex andmultilayered spaces that characterize this unplanned form of urbanization posea challenge to traditional approaches to mapping and morphological analysis.This study proposes a methodology to study the morphological properties ofinformal settlements based on terrestrial LiDAR (Light Detection and Ranging)data collected in Rocinha, the largest favela in Rio de Janeiro, Brazil. Ouranalysis operates at two resolutions, including a \emph{global} analysisfocused on comparing different streets of the favela to one another, and a\emph{local} analysis unpacking the variation of morphological metrics withinstreets. We show that our methodology reveals meaningful differences andcommonalities both in terms of the global morphological characteristics acrossstreets and their local distributions. Finally, we create morphological maps athigh spatial resolution from LiDAR data, which can inform urban planningassessments of concerns related to crowding, structural safety, air quality,and accessibility in the favela. The methods for this study are automated andcan be easily scaled to analyze entire informal settlements, leveraging theincreasing availability of inexpensive LiDAR scanners on portable devices suchas cellphones.

Favelas 4D: Scalable methods for morphology analysis of informal settlements using terrestrial laser scanning data