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This is a presentation about mocalum: https://github.com/niva83/mocalum mocalum is a python package for Monte Carlo based lidar uncertainty modeling. It has the following features: Fast Monte Carlo uncertainty modeling Simulation of single or multi lidar configurations Configuration of arbitrary trajectories for single and multi lidars Configuration of IVAP (sector-scan) trajectory for single lidar 3D or 4D / uniform or turbulent flow field generation Sampling of correlated or uncorrelateddoi:10.5281/zenodo.3823878 fatcat:lnmgza7ihrbuhk3frxrbkcb4am