“…To make advanced analysis of point clouds more general and accessible, we use 3D rasters and associated 3D raster algebra as the basis for developing new methods for lidar data analysis. 3D rasters, also referred to as voxels, voxel models, voxelbased space, or 3D grids, are used in many fields such as soil science [15], geology [16], atmospheric sciences [17], human anatomy [18], and 3D printing [19]. In the fields of remote sensing and geographic information systems, 3D rasters have been used with airborne lidar data to characterize fine-scale bird habitat [12] and with terrestrial lidar to characterize forest canopy fuel properties [20] and detailed tree models [21,22].…”