Evaluation of Geometric Data Registration of Small Objects from Non-Invasive Techniques: Applicability to the HBIM Field.

Reverse engineering and the creation of digital twins are advantageous for documenting, cataloging, and maintenance control tracking in the cultural heritage field. Digital copies of the objects into Building Information Models (BIM) add cultural interest to every artistic work. Low-cost 3D sensors, particularly structured-light scanners, have evolved towards multiple uses in the entertainment market but also as data acquisition and processing techniques for research purposes. Nowadays, with the development of structured-light data capture technologies, the geometry of objects can be recorded in high-resolution 3D datasets at a very low cost. On this basis, this research addresses a small artifact with geometric singularities that is representative of small museum objects. For this, the precision of two structured-light scanners is compared with that of the photogrammetric technique based on short-range image capture: a high-cost Artec Spider 3D scanner, and the low-cost Revopoint POP 3D scanner. Data capture accuracy is evaluated through a mathematical algorithm and point set segmentation to verify the spatial resolution. In addition, the precision of the 3D model is studied through a vector analysis in a BIM environment, an unprecedented analysis until now. The work evaluates the accuracy of the devices through algorithms and the study of point density at the submillimeter scale. Although the results of the 3D geometry may vary in a morphometric analysis depending on the device records, the results demonstrate similar accuracies in that submillimeter range. Photogrammetry achieved an accuracy of 0.70 mm versus the Artec Spider and 0.57 mm against the Revopoint POP 3D scanner.

Submillimeter Sized 2D Electrothermal Optical Fiber Scanner.

Optical scanners are used frequently in medical imaging units to examine and diagnose cancers, assist with surgeries, and detect lesions and malignancies. The continuous growth in optics along with the use of optical fibers enables fabrication of imaging devices as small as a few millimeters in diameter. Most forward viewing endoscopic scanners contain an optical fiber acting as cantilever which is vibrated at resonance. In many cases, more than one actuating element is used to vibrate the optical fiber in two directions giving a 2D scan. In this paper, it is proposed to excite the cantilever fiber using a single actuator and scan a 2D region from its vibrating tip. An electrothermal actuator is optimized to provide a bidirectional (horizontal and vertical) displacement to the cantilever fiber placed on it. A periodic current, having a frequency equal to the resonant frequency of cantilever fiber, was passed through the actuator. The continuous expansion and contraction of the actuator enabled the free end of fiber to vibrate in a circle like pattern. A small change in the actuation frequency permitted the scanning of the area inside the circle.

Metrology Benchmarking of 3D Scanning Sensors Using a Ceramic GD&T-Based Artefact.

The use of non-contact scanning equipment in metrology and in dimensional and geometric inspection applications is increasing due to its ease of use, the speed and density of scans, and the current costs. In fact, these technologies are becoming increasingly dominant in the industrial environment, thus moving from reverse engineering applications to metrological applications. However, this planned transfer requires actions to ensure the achievable accuracy by providing traceability of measurements. In the present study, a comparison between the devices is carried out and a specific standard artefact is designed, equipped with multiple ceramic optically friendly entities, and allowing a wide variety of geometric dimensioning and tolerancing (GD&T). Four different 3D scanning sensors are used in the experimentation. Three of them are based on laser triangulation, and the fourth is a structured blue light sensor (fringe pattern projection). The standard artefact is calibrated with a high accuracy, using a coordinate measuring machine (CMM) and probing sensors. With this CMM, reference values of multiple predefined GD&T are obtained. The evaluation methodology maximises the accuracy of each device in measuring the dimensions of the artefact due to the good dimensional (milling and turning), surface (control of machining variables), and the dimensional and spatial distribution characteristics. The procedure also includes the same treatment of the captured point clouds (trimming, filtering, and best-fit algorithm, etc.) in each of the four 3D scanning sensors considered. From this process, very reliable measurements of the maximum achievable accuracy of each device (deviations from the CMM measurements) are finally obtained, and a multi-characteristic comparison between the four sensors is performed, also with high reliability.

The Accuracy of Digital Implant Impressions when Using and Varying the Material and Diameter of the Dental Implant Scan Bodies.

The effects of using and varying the material and diameter of implant scan bodies (ISBs) on the level of accuracy of digital implant impressions is unclear. The purpose of this study was to investigate these effects on the level of accuracy of scans made by an extraoral scanner (EOS) and intraoral scanner (IOS). A stone cast with two sets of ISBs was used. ISBs were made of titanium (TI) or polyether ether ketone (PEEK). Each set consisted of two narrow diameter (ND) and two regular diameter (RD) ISBs. Sixtysix scans were performed and imported into an inspection and metrology software to conduct the three-dimensional (3D) comparisons (N=140) and obtain root mean square (RMS) values. RMS values were analyzed with descriptive and inferential non-parametric statistics (α=.05). The use of ISBs did not improve the overall EOS and IOS scans accuracies. Also, varying the ISBs' diameter and material influenced the EOS and IOS accuracies. For the EOS, the precision in descending order was as follows RD TI, ND TI, RD PEEK, ND PEEK. In contrast, for the IOS an inverse relationship was noted. Finally, precision assessment should always be performed for any reference scanner under the proposed test conditions.

3D optical scanning as an objective and reliable tool for volumetry of the foot and ankle region.

BACKGROUND: Edema development of the foot and ankle region should be evaluated by an objective measurement. We hypothesized, that 3D optical scanning of this region can serve as an alternative to clinically established measurement techniques. METHODS: Two investigators determined the volume by 3D optical scanning and the figure-of-eight method in a random order at 2 separate time points. Plots were created and ICCs were calculated for determination of reliability. The Pearson correlation coefficient served as a measure of the association between both measures. RESULTS: 40 healthy volunteers with mean age of 28.3±9.9 years underwent four sequences of measurements. The inter- and intraobserver reliability of both methods was excellent with high intraclass correlation coefficients (ICC 3,1). A strong correlation (r=0.96, P<0.001) between measured ankle volumes was noted. CONCLUSION: 3D optical scanning turned out to be more reliable than the figure-of-eight method in a preclinical set-up. A clinical use should be aimed at.

Accuracy of Intraoral Scanners for Recording the Denture Bearing Areas: A Systematic Review.

PURPOSE: To systematically review clinical and laboratory studies that investigated the accuracy of intraoral scanners in recording denture bearing areas. MATERIALS AND METHODS: Electronic and manual searches were conducted to identify all the available clinical and laboratory studies reporting the accuracy of digital impressions for recording denture related soft tissues. After the application of predetermined inclusion and exclusion criteria, the final list of articles was reviewed to meet the objective of this study. RESULTS: The inclusion criteria were met by 18 studies out of which 8 were clinical and the rest were laboratory investigations. The eligible studies assessed the accuracy of intraoral scanners in recording both the denture supporting structures and the peripheral mobile tissues. The accuracy results were different among the various intraoral scanners. Likewise, the effect of several influencing factors, such as artificial markers, scanner head size, scanning strategy, and the operator's experience, were evaluated. CONCLUSION: While the accuracy of intraoral scanners was comparable to the conventional techniques in recording bony structures with attached mucosa, they were not capable of accurately registering the mobile tissues. In addition, factors such as presence of a marker, larger scanner head size and specific scanning techniques appeared to improve the accuracy of the digital impression.

Quantification of cutaneous allergic reactions using 3D optical imaging: A feasibility study.

BACKGROUND: User-independent quantitative measures of cutaneous allergic reactions can help the physicians manage and evaluate the treatment of cutaneous allergic reactions. In this paper, we present and validate a method to quantify the elevation, volume and area of cutaneous allergic reactions to red tattoos. METHODS: The skin surface of allergic tattoo reactions was imaged using an optical 3D scanner. The in-house developed analysis tool measured the elevation, volume and area of the lesions, compared to a reference surface. This reference surface was created by 3D interpolation of the skin after manual removal of the lesions. The error of the interpolation tool was validated using a digital arm model. The error of our optical scanner was determined using a 3D printed lesion phantom. The clinical feasibility of the method was tested in 83 lesions in 17 patients. RESULTS: The method showed clear potential to assess skin elevation, volume change and area of an allergic reaction. The validation measurements revealed that the error due to interpolation increases for larger interpolation areas and largely determined the error in the clinical measurements. Lesions with a width ≥4 mm and an elevation ≥0.4 mm could be measured with an error below 26%. Patient measurements showed that lesions up to 600 mm2 could be measured accurately, and elevation and volume changes could be assessed at follow-up. CONCLUSION: Quantification of cutaneous allergic reactions to red tattoos using 3D optical scanning is feasible and may objectify skin elevation and improve management of the allergic reaction.

Use of Miniature Step Gauges to Assess the Performance of 3D Optical Scanners and to Evaluate the Accuracy of a Novel Additive Manufacture Process.

In this work, we show how miniature step gauges featuring unidirectional and bidirectional lengths can be used to assess the performance of 3D optical scanners as well as the accuracy of novel Additive Manufacturing (AM) processes. A miniature step gauge made of black polyphenylene sulfide (PPS) was used for the performance verification of three different optical scanners: a structured light scanner (SLS), a laser line scanner (LLS), and a photogrammetry-based scanner (PSSRT), having comparable resolutions and working volumes. Results have shown a good agreement between the involved scanners, with errors below 5 µm and expanded uncertainties below 10 µm. The step gauge geometry due to the bidirectional lengths, highlights that there is a different interaction between the optical properties of the step gauge under measurement and each optical instrument involved and this aspect has to be considered in the uncertainty budget. The same geometry, due to its great significance in the detection of systematic errors, was used, as a novelty, to evaluate the accuracy of Lithography-based Ceramics Manufacturing (LCM), a proprietary additive manufacturing technology used for the fabrication of medical implants. In particular, two miniature step gauges made of Tricalcium Phosphate (TCP) were produced. Measurements conducted with the SLS scanner were characterized by a negligible error and by an uncertainty of about 5 µm. Deviations of the manufactured step gauges with respect to the Computer Aided Designed (CAD) model were comprised between ±50 µm, with positive deviations in the order of 100 µm on vertical sides. Differences in the order of 50 µm between the two step gauges were registered.

Thermomechanical Actuator-Based Three-Axis Optical Scanner for High-Speed Two-Photon Endomicroscope Imaging.

This paper presents the design and characterization of a three-axis thermomechanical actuator-based endoscopic scanner for obtaining ex vivo two-photon images. The scanner consisted of two sub-systems: 1) an optical system (prism, gradient index lens, and optical fiber) that was used to deliver and collect light during imaging and 2) a small-scale silicon electromechanical scanner that could raster scan the focal point of the optics through a specimen. The scanner can be housed within a 7 mm Ø endoscope port and can scan at the speed of 3 kHz × 100 Hz × 30 Hz along three axes throughout a 125 × 125 × 100 µm3 volume. The high-speed thermomechanical actuation was achieved through the use of geometric contouring, pulsing technique, and mechanical frequency multiplication (MFM), where MFM is a new method for increasing the device cycling speed by pairing actuators of unequal forward and returning stroke speeds. Sample cross-sectional images of 15-µm fluorescent beads are presented to demonstrate the resolution and optical cross-sectioning capability of the two-photon imaging system.

Distal planar rotary scanner for endoscopic optical coherence tomography.

Optical coherence tomography (OCT) is becoming a more common endoscopic imaging modality for detecting and treating disease given its high resolution and image quality. To use OCT for 3-dimensional imaging of small lumen, embedding an optical scanner at the distal end of an endoscopic probe for circumferential scanning the probing light is a promising way to implement high-quality imaging unachievable with the conventional method of revolving an entire probe. To this end, the present work proposes a hollow and planar micro rotary actuator for its use as an endoscopic distal scanner. A miniaturized design of this ferrofluid-assisted electromagnetic actuator is prototyped to act as a full 360° optical scanner, which is integrated at the tip of a fiber-optic probe together with a gradient-index lens for use with OCT. The scanner is revealed to achieve a notably improved dynamic performance that shows a maximum speed of 6500 rpm, representing 325% of the same reported with the preceding design, while staying below the thermal limit for safe in-vivo use. The scanner is demonstrated to perform real-time OCT using human fingers as live tissue samples for the imaging tests. The acquired images display no shadows from the electrical wires to the scanner, given its hollow architecture that allows the probing light to pass through the actuator body, as well as the quality high enough to differentiate the dermis from the epidermis while resolving individual sweat glands, proving the effectiveness of the prototyped scanner design for endoscopic OCT application.

Evaluation of the Surface Topography and Deformation of Vertical Thin-Wall Milled Samples from the Nickel Alloy Inconel 625.

During the production of components, manufacturers of structures are obliged to meet certain requirements and ensure appropriate quality characteristics. It is especially important during the manufacturing of thin-walled structures, which are subject to many errors during machining due to the reduced rigidity of the products, including the deformation of thin walls, which may be the result of the vibration of the system. The appearance of vibrations reduces the quality of the machined surface affecting the increase in the values of surface topography parameters-waviness and roughness. Thin-wall structures-titanium or nickel alloy, among others-play a key role in the aerospace industry, which constantly strives to reduce the weight of the entire structure while meeting requirements. The present work focuses on the evaluation of the parameters of surface topography, dimensional and shape accuracy during the milling of nickel alloy Inconel 625 samples containing a thin wall in a vertical orientation. The experiment was conducted under controlled cutting conditions using a constant material removal rate. As part of the surface topography section, the distribution of waviness, Wa and Wz, and roughness, Ra and Rz, was determined in selected measurement areas in the direction parallel to the direction of the feed motion. Dimensional deviations, measured with a 3D optical scanner, were determined in selected cross sections in the direction perpendicular and parallel to the bottom of the sample presenting the deflection of the thin-walled structure. The results provide information that the used parameter sets affect the measured quantities to varying degrees.

Assessment of the Efficiency of Measuring Foot and Ankle Edema with a 3D Portable Scanner.

Background: To prospectively evaluate the reliability of a portable optical scanner compared to the water displacement technique for volumetric measurements of the foot and ankle and to compare the acquisition time associated with these two methods. Methods: Foot volume was measured in 29 healthy volunteers (58 feet, 24 females and 5 males) by a 3D scanner (UPOD-S 3D Laser Full-Foot Scanner®) and by water displacement volumetry. Measurements were performed on both feet, up to a height of 10 cm above the ground. The acquisition time for each method was evaluated. The Kolmogorov-Smirnov test, Lin's Concordance Correlation Coefficient, and a Student's t-test were performed. Results: Mean foot volume was 869.7 +/- 165.1 cm3 (3D scanner) versus 867.9 +/- 155.4 cm3 (water-displacement volumetry) (p < 10-5). The concordance of measurements was 0.93, indicative of a high correlation between the two techniques. Volumes were 47.8 cm3 lower when using the 3D scanner versus water volumetry. After statistically correcting this underestimation, the concordance was improved (0.98, residual bias = -0.03 +/- 35.1 cm3). The mean examination time was 4.2 +/- 1.7 min (3D optical scanner) versus 11.1 +/- 2.9 min (water volumeter) (p < 10-4). Conclusions: Ankle/foot volumetric measurements performed using this portable 3D scanner are reliable and fast and can be used in clinical practice and research.

3D Surface Scanning-A Novel Protocol to Characterize Virtual Nickel-Titanium Endodontic Instruments.

The nickel-titanium (NiTi) instruments' geometry plays an important role in their performance and behavior. The present assessment intends to validate and test the applicability of a 3D surface scanning method using a high-resolution laboratory-based optical scanner to create reliable virtual models of NiTi instruments. Sixteen instruments were scanned using a 12-megapixel optical 3D scanner, and methodological validation was performed by comparing quantitative and qualitative measurements of specific dimensions and identifying some geometric features of the 3D models with images obtained through scanning electron microscopy. Additionally, the reproducibility of the method was assessed by calculating 2D and 3D parameters of three different instruments twice. The quality of the 3D models created by two different optical scanners and a micro-CT device was compared. The 3D surface scanning method using the high-resolution laboratory-based optical scanner allowed for the creation of reliable and precise virtual models of different NiTi instruments with discrepancies varying from 0.0002 to 0.0182 mm. The reproducibility of measurements performed with this method was high, and the acquired virtual models were adequate for use in in silico experiments, as well as for commercial or educational purposes. The quality of the 3D model obtained using the high-resolution optical scanner was superior to that acquired by micro-CT technology. The ability to superimpose virtual models of scanned instruments and apply them in Finite Element Analysis and educational purposes was also demonstrated.

Dimensional Deviations of Horizontal Thin Wall of Titanium Alloy Ti6Al4V Determined by Optical and Contact Methods.

Thin-walled structures are used in many industries. The need to use such elements is dictated by the desire to reduce the weight of the finished product, as well as to reduce its cost. The most common method of machining such elements is the use of milling, which makes it possible to make a product of almost any shape. However, several undesirable phenomena occur during the milling of thin-walled structures. The main phenomenon is a deformation of the thin wall resulting from its reduced stiffness. Therefore, it is necessary to control the dimensional and shape accuracy of finished products, which is carried out using various measuring instruments. The development of newer measuring methods such as optical methods is being observed. One of the newer measuring machines is the 3D optical scanner. In the present experiment, thin-walled samples in horizontal orientation of Ti6Al4V titanium alloy were machined under controlled cutting conditions. During machining, the cutting speed and feed rate were assumed constant, while the input factors were the tool and cutting strategy. This paper presents graphs of deviations in the determined cross-section planes of thin-walled structures using a 3D optical scanner and a coordinate measuring machine. A correlation was made between the results obtained from the measurement by the optical method and those determined by the contact method. A maximum discrepancy of about 8% was observed between the methods used.

Assessment of Arm Volume Using a Tape Measure Versus a 3D Optical Scanner in Survivors with Breast Cancer-Related Lymphedema.

Background: Lymphedema (LE) is a significant clinical problem for breast cancer survivors. While the water displacement test and circumferential assessment using a tape measure (TM) are common methods to assess differences in arm volumes, faster and more reliable methods are needed. Study purposes, in breast cancer survivors (n = 294), were to compare the average total arm volumes and interlimb volume ratios for women with and without a history of LE, using a TM and three-dimensional (3D), whole-body surface scanner (3D scan); compare the level of agreement between arm volumes and interlimb volume ratios obtained using the two devices; and evaluate the percent agreement between the two measures in classifying cases of LE using three accepted thresholds. Methods and Results: Measurements were done using a spring-loaded TM and Fit3D ProScanner. Paired t-tests and Bland-Altman analyses were used to achieve the study aims. For circumference and volume comparisons, compared with the 3D scan, values obtained using the TM were consistently smaller. In terms of level of agreement, the Bland-Altman analyses demonstrated large biases and wide limits of agreement for the calculated arm volumes and volume ratios. In terms of the classification of caseness, using the 200-mL interlimb volume difference criterion resulted in 81.6% overall agreement; using the >10% volume difference between the affected and unaffected arms resulted in 78.5% overall agreement; and using the volume ratio ≥1.04 criterion resulted in 62.5% overall agreement. For all three accepted threshold criteria, the percentage of cases was significantly different between the TM and 3D scan techniques. Conclusions: The 3D technology evaluated in this study has the potential to be used for self-initiated surveillance for LE. With improvements in landmark identification and software modifications, it is possible that accurate and reliable total arm volumes can be calculated and used for early detection.

OMMR: Co-registration toolbox of OPM-MEG and MRI.

Magnetoencephalography (MEG) based on optically pumped magnetometers (OPM-MEG) has shown better flexibility in sensor configuration compared with the conventional superconducting quantum interference devices-based MEG system while being better suited for all-age groups. However, this flexibility presents challenges for the co-registration of MEG and magnetic resonance imaging (MRI), hindering adoption. This study presents a toolbox called OMMR, developed in Matlab, that facilitates the co-registration step for researchers and clinicians. OMMR integrates the co-registration methods of using the electromagnetic digitization system and two types of optical scanners (the structural-light and laser scanner). As the first open-source co-registration toolbox specifically for OPM-MEG, the toolbox aims to standardize the co-registration process and set the ground for future applications of OPM-MEG.

Accuracy of high-density EEG electrode position measurement using an optical scanner compared with the photogrammetry method.

Objective: To determine the feasibility and accuracy of a handheld optical scanner to measure the three-dimensional (3D) EEG electrode coordinates in a high-density array of 256 electrodes. Methods: We compared the optical scanning with a previously validated method, based on photogrammetry. Electrode coordinates were co-registered with the MRI of the patients, and mean distance error relative to the three-dimensional MRI reconstruction was determined for each patient. We included 60 patients: 30 were measured using the photogrammetry method, and 30 age and gender matched patients were measured with the optical scanner. Results: Using the optical scanner, the mean distance error was 1.78 mm (95% confidence interval: 1.59-1.98 mm) which was significantly lower (p < 0.001) compared with the photogrammetry method (mean distance error: 2.43 mm; 95% confidence interval: 2.28-2.57 mm). The real-time scanning took 5-10 min per patient. Conclusions: The handheld optical scanner is more accurate and feasible, compared to the photogrammetry method. Significance: Measuring EEG electrode positions in high-density array, using the optical scanner is suitable for clinical implementation in EEG source imaging for presurgical evaluation.

A randomized, prospective trial to assess the safety and efficacy of hilotherapy in patients after orthognathic surgery.

PURPOSE: A post-operative cooling method in oral and maxillofacial surgery is the cooling with hilotherapy. The aim of this study was the post-operative comparison of cooling temperatures of 18°C and 22°C. The parameters of this trial were swelling and the post-operative pain levels. METHODS: This study included 156 patients, divided into two groups among whom a mono-one, bignathic osteotomy or genioplasty was indicated. The post-operative assessment of swelling was performed using a 3D optical scanner. This examination was repeated on post-operative days 1, 2, 3, 7, 14, 30, and 90. The examination on day 90 served as a reference value in respect of swelling and pain. RESULTS: Group 1 (18°C, 78 patients) showed an increase in post-operative swelling on the 1st post-OP day of 52.06 ± 35.41ml. The maximum was reached on the 2nd post-OP day with 75.82 ± 38.97ml. On the 30th post-OP day, residual swelling measured 11.60 ± 12.62ml. Group 2 (22 °C, 78 patients) showed an increase in postoperative swelling on the 1st post-OP day of 76.07 ± 63.15ml. The maximum was reached on the 2nd post-OP day with 106.97 ± 69.63 ml. On the 30th post-OP day, residual swelling measured 14.36 ± 32.26ml. The differences between the two groups and between different visits were statistically significant. CONCLUSION: The study results indicate less residual swelling in group 1 on the 30th post-OP day, possible based on the lower cooling temperature. The post-operative pain exhibits a comparable level of pain intensity between the two groups. In overall terms, a subjectively more agreeable treatment was observed in group 1.

Use of measuring gauges for in vivo accuracy analysis of intraoral scanners: a pilot study.

PURPOSE: The purpose of this study is to present a methodology to evaluate the accuracy of intraoral scanners (IOS) used in vivo. MATERIALS AND METHODS: A specific feature-based gauge was designed, manufactured, and measured in a coordinate measuring machine (CMM), obtaining reference distances and angles. Then, 10 scans were taken by an IOS with the gauge in the patient's mouth and from the obtained stereolithography (STL) files, a total of 40 distances and 150 angles were measured and compared with the gauge's reference values. In order to provide a comparison, there were defined distance and angle groups in accordance with the increasing scanning area: from a short span area to a complete-arch scanning extension. Data was analyzed using software for statistical analysis. RESULTS: Deviations in measured distances showed that accuracy worsened as the scanning area increased: trueness varied from 0.018 ± 0.021 mm in a distance equivalent to the space spanning a four-unit bridge to 0.106 ± 0.08 mm in a space equivalent to a complete arch. Precision ranged from 0.015 ± 0.03 mm to 0.077 ± 0.073 mm in the same two areas. When analyzing angles, deviations did not show such a worsening pattern. In addition, deviations in angle measurement values were low and there were no calculated significant differences among angle groups. CONCLUSION: Currently, there is no standardized procedure to assess the accuracy of IOS in vivo, and the results show that the proposed methodology can contribute to this purpose. The deviations measured in the study show a worsening accuracy when increasing the length of the scanning area.

MEMS Mirrors for LiDAR: A review.

In recent years, Light Detection and Ranging (LiDAR) has been drawing extensive attention both in academia and industry because of the increasing demand for autonomous vehicles. LiDAR is believed to be the crucial sensor for autonomous driving and flying, as it can provide high-density point clouds with accurate three-dimensional information. This review presents an extensive overview of Microelectronechanical Systems (MEMS) scanning mirrors specifically for applications in LiDAR systems. MEMS mirror-based laser scanners have unrivalled advantages in terms of size, speed and cost over other types of laser scanners, making them ideal for LiDAR in a wide range of applications. A figure of merit (FoM) is defined for MEMS mirrors in LiDAR scanners in terms of aperture size, field of view (FoV) and resonant frequency. Various MEMS mirrors based on different actuation mechanisms are compared using the FoM. Finally, a preliminary assessment of off-the-shelf MEMS scanned LiDAR systems is given.