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C. E. Parrish, Jeong, I., Nowak, R. D., and Smith, R. B., Empirical Comparison of Full-Waveform Lidar Algorithms: Range Extraction and Discrimination Performance, Photogrammetric Engineering and Remote Sensing, vol. 77. ASPRS: The Imaging and Geospatial Information Society, Bethesda, MD, USA, pp. 825-838, 2011.