This paper relates to the implementation of moving object position estimation by Pulsed LiDAR that can detect objects with high precision, speed, and spatial resolution. LiDAR measures the distance by calculating a return travel time when target is reflected. The retro-reflector, regardless of incident angle, can be reflected horizontally in the incident direction. This algorithm proposes a new approach method using LiDAR and retro-reflectors. According to the above algorithm, position can be determined by automatically detecting 90% of the reflected return beam intensity from moving objects to which the retro-reflector is attached. When this algorithm was applied indoors, it was possible to locate the position of the scanner accurately within ±5 mm error in 2,500 × 2,500 (mm) space. Also, it can detect a space of up to 5,000 × 5,000 (mm), making this an effective method for determining the position of a moving object in indoors.

Light detection and ranging (LiDAR) is one of the most efficient technologies to obtain the topographic and bathymetric map of coastal zones, superior to other technologies, such as sound navigation and ranging (SONAR) and synthetic aperture radar (SAR). However, the measurement results using LiDAR are vulnerable to environmental factors. To achieve a correspondence between the acquired LiDAR data and reality, error sources must be considered, such as the water surface slope, water turbidity, and seafloor slope. Based on the knowledge of those factors’ effects, error corrections can be applied. We concentrated on the effect of the seafloor slope on LiDAR waveforms while restricting other error sources. A simulation regarding in-water beam scattering was conducted, followed by an investigation of the correlation between the seafloor slope and peak timing of return waveforms. As a result, an equation was derived to correct the depth error caused by the seafloor slope.