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A LiDAR point cloud is a collection of millions (even billions) of points that is used to accurately map an environment in a way similarly to how a pointillism painting creates a picture. Each of these points have a location in a known coordinate system (local or global), along with a value for intensity which quantifies the amount of light energy that is recorded by the scanner. A LiDAR point cloud is the product of sensor fusion across a GPS-Aided Inertial Navigation System (INS) and a LiDAR scanner. Each sensor plays a critical role in how a LiDAR payload functions and the applicability of its point cloud output.