This book provides a comprehensive discussion of topographic LiDAR principles, systems, data acquisition, and data processing techniques. Ranging and scanning fundamentals, and broad, contemporary analysis of airborne LiDAR systems, as well as those situated on land and in space are covered. Also discussed are data collection in terms of waveforms and their properties; error budget, quality control, and data organization; LiDAR data processing and information extraction. State-of-the-art technological developments used in filtering algorithms for digital terrain model generation are included.