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OxTS Georeferencer

Lidar Georeferencing and Boresight Calibration Software

OxTS Georeferencer is a simple and powerful Lidar georeferencing software that combines INS data with the raw data from a wide range of Lidar scanners to output highly accurate 3D point clouds. OxTS Georeferencer supports integrations with sensors from Velodyne, Hesai, Livox and Ouster with other new families of Lidar being added regularly.

  • OxTS Georeferencer
Oxford Technical Solutions - OxTS
Park Farm Business Centre, Middleton Stoney
OX25 4AL Bicester
United Kingdom
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OxTS Georeferencer

OxTS Georeferencer is a software tool developed by OxTS to combine INS trajectory data with raw Lidar data to create a georeferenced 3D Pointcloud.

OxTS Georeferencer takes a file collected with a Lidar scanner (synchronised in real-time with an OxTS inertial navigation system), a processed navigation trajectory file from the OxTS INS, and some required configuration files, to create an LAS point cloud file that can be viewed in many 3rd party Lidar software packages.

Thanks to our experience in calibration techniques, we have been able to develop a solution that helps system integrators and end-users to start their work with confidence that their INS and Lidar hardware has been installed precisely and accurately.


OxTS Georeferencer’s main function is to synchronise and fuse the OxTS INS and LiDAR data sets.

A Lidar sensor can sense range to a target, but it has no internal knowledge of when or where it is, or where it has moved to since the last scan occurred. This is where the INS adds essential information:

  • Nanosecond accurate time (Survey grade GNSS receivers)
  • RTK/PPK accurate position (Survey grade GNSS receivers and tightly-coupled navigation engine)
  • Accurate heading, pitch, and roll (Survey grade IMU sensors)

Thanks to live accuracies being reported as well, the data can be intelligently filtered based on estimated position/orientation accuracy of the INS, allowing you to perform less clean-up of the data in post-processing.

Boresight Calibration 

Boresight calibration is an essential part of INS & Lidar integration.

If the coordinate systems of the two devices do not match perfectly then the georeferencing of Lidar data will diverge over longer ranges and result in a less accurate point cloud. 

OxTS Georeferencer includes the ability to boresight supported Lidar devices in order to ensure the user can produce clean and reliable data every time.

The results of running a boresight calibration are sometimes very clear, and sometimes marginal, but the objective is the same – align all sensors on the vehicle to the same coordinate system to ensure a high level of accuracy, regardless of a predefined test scenario.

A boresighted system allows for complete flexibility over the way you perform a survey.

To learn more about the Boresight Calibration feature take a look at our Boresight Calibration Brochure.



  • Source of Point Clouds
    Airborne Lidar
  • Year of initial introduction
  • Year of last update
  • Supported Systems
    Velodyne - VLP-16 PUCK, VLP-16 PUCK-LITE, VLP-32C, HDL-32 Alpha Prime VLS128 / Hesai - Pandar40, Pandar40P, Pandar 40M, Pandar64, PandarQT, Pandar128, PandarXT-16, PandarXT-32 / Ouster - All Gen2 (32, 64 & 128 versions of OS0, OS1 & OS2 sensors) / Livox - Mid-40, Mid-70 and the Livox Avia
  • Geo-referencing
  • Input formats
  • Output formats

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