DJI Zenmuse L3 LiDAR Sensor for Matrice 400

The DJI Zenmuse L3 is DJI’s most advanced aerial LiDAR payload to date, combining a 1535nm long-range LiDAR module, dual 100MP RGB mapping cameras, a highly accurate position and orientation system (POS), and a 3-axis gimbal—all within a compact, fully integrated sensor package.

Purpose-built for demanding geospatial and engineering survey missions, the Zenmuse L3 captures dense, high-accuracy point clouds while simultaneously acquiring photogrammetry-grade imagery over large areas in a single flight. 

L3 features a maximum detection range of 950 meters, supports up to 16 returns per pulse, and offers multiple scanning modes including Linear, Star-Shaped, and Non-Repetitive patterns to meet a wide range of mission types. Paired with the DJI Matrice 400 platform, Zenmuse L3 can collect up to 100 km² of data per day, transforming long-duration survey projects into efficient, single-day operations.

Hardware Performance Redefined

Zenmuse L3 integrates a 1535nm long-range LiDAR sensor, dual 100MP RGB mapping cameras, a high-precision position and orientation system (POS), and a 3-axis gimbal into a single compact payload. This streamlined design delivers exceptional accuracy, range, and efficiency, enabling faster data collection and reduced system complexity in the field.

1535nm Long-Range LiDAR

Long Range, Wide Coverage

Zenmuse L3 delivers a detection range of up to 950 meters at 100 kHz pulse rate, even on surfaces with just 10% reflectivity under 100 klx lighting. With adjustable pulse frequencies, it provides flexibility in power output to suit different mission types. Typical flight altitudes between 300 and 500 meters expand single-flight coverage and increase mapping throughput.

Small Spot, High Energy

The system uses a laser beam with a divergence of only 0.25 mrad (1/e²), producing a spot size approximately one-fifth that of the Zenmuse L2 at equivalent range. This enables reliable detection of small features like cables and thin branches. The higher energy density enhances vegetation penetration, improving ground point density and structure detail in complex terrain.

High Pulse Rate, Multiple Returns

Zenmuse L3 supports pulse rates up to 2 million pulses per second and captures up to 16 returns from each pulse. This level of return flexibility allows operators to tune data density and penetration depth for applications ranging from fine-detail terrain modeling to dense forest canopy analysis.

Scanning Modes

Operators can choose from three scanning patterns tailored to specific use cases:

• Linear: Delivers consistent point cloud distribution, ideal for precise elevation and topographic models.
• Star-Shaped: Offers varied scan angles to balance density and penetration—suited for forests and urban zones.
• Non-Repetitive: Maximizes coverage and structure detail in corridor inspections, such as power lines and towers.

Dual 100MP RGB Mapping Camera System

Dual 100MP RGB Mapping Cameras

Zenmuse L3 features two 100MP RGB cameras, each equipped with a 4/3 CMOS sensor and mechanical shutter. The system supports pixel binning for a 25MP effective resolution, allowing for improved light sensitivity and enhanced color accuracy even in low-light conditions. This dual-camera design captures high-resolution imagery suitable for photogrammetry and colorizing point clouds in a single flight.

107° Ultra-Wide FOV

With a combined horizontal field of view of 107°, the dual RGB cameras cover a wide area per capture. Even with a LiDAR side overlap of just 20%, operators can collect RGB data for both digital orthophoto maps (DOM) and digital elevation models (DEM) simultaneously, increasing coverage and reducing the number of required flights.

Accuracy Meets Efficiency

Zenmuse L3 improves both point cloud and photogrammetric accuracy while enabling faster workflows. Paired with the DJI Matrice 400, a single flight can cover up to 10 km², supporting high-precision mapping over as much as 100 km² per day. This level of efficiency allows teams to complete large-area survey projects with fewer flights and faster turnaround times.

High Accuracy

Proprietary High-Precision System

Zenmuse L3 features an advanced high-precision POS system that delivers post-processed heading accuracy of 0.02° and pitch accuracy of 0.01° (1σ). Its self-developed LiDAR system achieves a ranging repeatability of 5 mm at 150 meters and supports microsecond-level time synchronization. Each unit is calibrated at the factory to ensure consistent, survey-grade results across different environments and mission profiles.

LiDAR Data Accuracy

Vertical accuracy is better than 3 cm at 120 meters, better than 5 cm at 300 meters, and better than 10 cm at 500 meters. This enables support for mapping projects at 1:500, 1:1000, and 1:2000 scales. Compared to previous-generation systems, the L3 produces thinner point clouds, making it better suited for applications requiring precise elevation models or surface reconstruction.

Photogrammetric Accuracy

The dual 100MP RGB mapping cameras maintain a ground sample distance (GSD) of just 3 cm even at 300 meters altitude. Real-time synchronization between the LiDAR and RGB data enables precise mapping without the need for ground control points (GCPs), supporting both rapid deployment and high-resolution deliverables.

High Penetration

High Ground Point Density

With a smaller laser spot size and higher single-pulse energy, Zenmuse L3 delivers superior vegetation penetration. This allows the system to capture more complete ground returns, even beneath dense canopy, increasing the accuracy of digital elevation models and improving the quality of surface reconstruction in terrain mapping applications.

High Efficiency

Up to 100 km² per Day

Mounted on the DJI Matrice 400, Zenmuse L3 enables coverage of up to 10 km² in a single flight. This translates to as much as 100 km² of high-resolution mapping per day, making it well-suited for large-area survey projects where both speed and data quality are critical.

Multiple Deliverables in a Single Flight

Zenmuse L3 captures both LiDAR and RGB data simultaneously, allowing operators to generate multiple deliverables—such as digital elevation models (DEM), digital orthophoto maps (DOM), and more—from a single flight. This integrated workflow reduces time in the field and simplifies data processing.

End-to-End Solution

Zenmuse L3 is fully integrated into DJI’s enterprise ecosystem, delivering a unified mapping solution from data capture to final output. Its seamless compatibility with DJI platforms—including the Matrice 400, DJI Pilot 2, DJI Terra, and FlightHub 2—simplifies mission planning, flight operations, and post-processing, reducing the complexity typically associated with multi-platform workflows.

This streamlined approach enables teams to complete large-scale mapping tasks more efficiently, with less setup time and fewer handoffs between systems.

Data Acquisition

Point Cloud Result Preview

Before takeoff, DJI Pilot 2 automatically generates recommended flight parameters based on the planned route. It also displays a Density Profile Chart and point cloud distribution chart, allowing users to preview expected data coverage and quality in advance.

Power Line Follow

Zenmuse L3 enhances the Power Line Follow feature, enabling operations at altitudes up to 130 meters. In most cases, operators can fly a single straight path without detours or obstacle avoidance while capturing complete corridor data for electrical infrastructure.

Flexible Split-Screen View

DJI Pilot 2 supports split-screen viewing of any two data feeds—including point cloud, RGB, or Vision Assist—allowing users to configure displays to fit mission needs. During power line inspections or nadir-facing RGB capture, Vision Assist provides real-time forward-facing visuals to reduce flight risk and improve situational awareness.

Real-Time Point Cloud

Zenmuse L3 supports real-time SLAM-based point cloud reconstruction with live 2D and 3D previews during flight. Operators can monitor data collection, assess coverage in real time, and take in-field measurements. Collected point cloud data can also be synced directly to the cloud through DJI FlightHub 2 for rapid analysis and emergency response.

Cloud-Based Point Cloud Measurement

Point cloud outputs from Zenmuse L3 are fully compatible with DJI FlightHub 2. Users can view, annotate, and measure point cloud data in real time, create flight routes, highlight areas of interest, and perform line and area measurements—directly from the cloud platform.

Data Processing

PPK Data Processing

DJI Terra includes built-in support for PPK (Post-Processed Kinematic) workflows, compatible with DJI’s D-RTK 3 base stations and standard GNSS base station data. Both RGB imagery and LiDAR data benefit from centimeter-level positioning accuracy, even in areas with limited network connectivity or where RTK is unavailable during flight.

LiDAR Gaussian Splatting

Using data collected by Zenmuse L3, DJI Terra supports advanced Gaussian Splatting techniques to fuse LiDAR and RGB information into more realistic and detailed 3D models. This improves visual fidelity and extends the value of LiDAR datasets across a wider range of mapping and visualization use cases.

Fusion-Based Modeling

DJI Terra enables full integration of LiDAR and RGB data from a single flight, producing high-accuracy point clouds, 2D maps, and 3D mesh models in one workflow. This fusion approach is especially effective for environments with structural complexity—such as substations, bridges, or urban corridors—meeting the demands of industries including infrastructure, utilities, and transportation.

Data Application

Smart Filter

DJI Modify supports semantic classification of point clouds collected by Zenmuse L3, automatically identifying ground, vegetation, buildings, wires, towers, and more. Users can refine classifications using tools like Quick Selection and Structure Selection, improving the accuracy and efficiency of large-scale data cleanup.

Profile Tool

With the Profile tool in DJI Modify, users can select custom cross-sections of point cloud data to analyze elevation changes, structural geometry, and terrain contours. This functionality supports more intuitive interpretation of complex site features.

Comprehensive Output Capabilities

Zenmuse L3 supports a wide range of deliverables when processed through DJI Modify, including semantic point clouds, digital elevation models (DEM), triangulated irregular networks (TIN), point grids, and contour lines. These outputs are compatible with CAD and GIS workflows and support multi-layer visualization for engineering, planning, and design applications.

Complete Workflow Integration

Zenmuse L3 supports a fully streamlined workflow—from field deployment to data processing and final output—across DJI's enterprise ecosystem. This integration eliminates the need for third-party platforms or complex file transfers, allowing mapping teams to work faster, more securely, and with greater consistency across diverse mission profiles.

System Specifications

RGB Mapping Camera

LiDAR

Position and Orientation System (POS)

Software Ecosystem

(1) Zenmuse L3
(1) Zenmuse L3 Single Gimbal Connector
(1) Storage Case
(4) Gimbal Dampers
(2) CFexpress Type B Memory Cards
(1) CFexpress Type B Card Reader
(1) DJI Matrice 400 Carrying Case Insert (Zenmuse L3)
(1) Lens Cleaning Cloth
(1) Screws and Tools Kit

L3 Compatibility

Matrice 400

The Zenmuse L3 is only compatible with the DJI Matrice 400. Before use, ensure both the aircraft and remote controller firmware are updated to the latest version. For accurate data capture, mount the L3 on a single downward gimbal connector and connect the cable to the correct USB-C port on the aircraft (right-side port when facing the drone).

What aircraft is Zenmuse L3 compatible with? Which gimbal interface can it be mounted on?
Compatible with DJI Matrice 400, and requires the use of the Zenmuse L3 single gimbal connector. Please ensure that the gimbal connector is connected to the E1 port on the aircraft's underside. Otherwise mapping accuracy will be reduced.

What is the protection level of Zenmuse L3?
Zenmuse L3 can achieve an IP54 rating according to the IEC60529 standard under controlled laboratory conditions. To ensure the highest levels of protection:
1. Before installing, make sure that the interface and surface of the gimbal are dry;
2. Before use, make sure that the gimbal is firmly installed on the drone and the CFexpress™ card protective cap is clean, free of foreign objects, and closed;
3. Before opening the CFexpress™ card protective cap, wipe the surface of the drone clean.
4. The protection level will decrease over time due to normal device use and wear.

What is the laser pulse emission frequency of Zenmuse L3? How many returns does it support?
4, 8, 16 returns (100 kHz, 350 kHz)
4, 8 returns (1000 kHz)
4 returns (2000 kHz)

How does the range of Zenmuse L3 change at different laser pulse emission frequencies?
290 m (center), 200 m (edge) @10% reflectivity, 2000 kHz, recommended operating altitude ≤ 50 m
400 m (center), 280 m (edge) @10% reflectivity, 1000 kHz, recommended operating altitude ≤ 120 m

What is the difference between 100MP and 25MP operation? Which scenarios are each suitable for?
100MP (High Resolution): Provides more pixels and finer image detail, though it requires more storage space. At the same ground sample distance (GSD), it allows for higher flight altitudes and is recommended for operations above 150 m.
25MP (High Sensitivity): Features larger equivalent pixel size, better signal-to-noise ratio, and higher sensitivity. It requires less storage and, for the same GSD, necessitates lower flight altitudes, making it ideal for operations at or below 150 m.

Does the Zenmuse L3 single gimbal connector support other DJI Enterprise payloads?
The Zenmuse L3 single gimbal connector currently only supports L3. Mounting other aerial mapping payloads may result in reduced mapping accuracy. For example, if Zenmuse H30T is mounted, video footage may experience minor shaking, which can affect advanced functions such as Smart Track, Automated Overhead Power Line Inspection, and others.

When Zenmuse L3 is shooting video, why doesn't the gimbal recenter, and which RGB camera is used for recording?
During video recording, only one camera is active. Specifically, when recording video, the right-side RGB camera (when facing the LiDAR) is used.

How efficient is the surveying and mapping operation of Zenmuse L3? How is it calculated?
Zenmuse L3 can collect data covering an area of up to 10 km² in a single flight, enabling up to 100 km² of mapping per day.
^{When paired with DJI Matrice 400, Zenmuse L3 can achieve a daily mapping coverage of up to 100 km² (flat terrain, 300m nadir flight altitude, 20% side overlap, 17m/s flight speed, and a total effective flight time of 6 hours).}

What is the typical flight altitude for Zenmuse L3? What is the corresponding accuracy?
At 120m Flight Altitude:
Vertical Accuracy: 3 cm (RMSE)
Horizontal Accuracy: 4 cm (RMSE)

At 150m Flight Altitude:
Vertical Accuracy: 3.5 cm (RMSE)
Horizontal Accuracy: 5 cm (RMSE)

At 300m Flight Altitude:
Vertical Accuracy: 5 cm (RMSE)
Horizontal Accuracy: 7.5 cm (RMSE)

<sup>Measured under the following conditions in a DJI laboratory environment:
1. The field contained objects with obvious angular features. DJI Matrice 400 was linked to a position-calibrated D-RTK 3 Multifunctional Station. The flight route was planned using DJI Pilot 2's Area Route (with Calibrate IMU enabled) with Linear scanning. The flight speed was set to 15 m/s, gimbal pitch to -90°, and each straight segment of the flight route was less than 3300 m.
2. Using exposed hard ground checkpoints that conformed to the diffuse reflection model.
3. DJI Terra was used for post-processing with Optimize Point Cloud Accuracy enabled.</sup>

What improvements does Zenmuse L3 offer in Power Line Follow compared to the previous generation?
1. The FOV has been increased to 80°×80°, which allows a larger section of power lines to be detected at the same altitude.
2. The smaller laser spot and extended detection range make power line detection more stable and reliable.
3. Power Line Follow now supports higher operational altitudes: for transmission lines, 10 to 130 m (recommended: 50 to 80 m); for distribution lines, 10 to 50 m (recommended: 30 to 50 m). With higher altitudes, the drone can fly directly over crossing lines without detours, greatly improving flight efficiency.

What types of lines is the Zenmuse L3's Power Line Follow feature suitable for?
The Power Line Follow feature of Zenmuse L3 is designed for transmission and distribution lines with voltage levels of 10 kV and above. However, it cannot guarantee effective recognition for low-voltage lines, such as those at 400 V, or communication and broadcasting cables.

In what scenarios could the identification and tracking performance of power lines be affected? How can these issues be resolved?
The performance of power line recognition and following may be compromised under the following scenarios:
1. Insulated lines;
2. Tree canopies that are too close to or even obstructing the lines;
3. Dense distribution of multiple power lines, such as in substation entry and exit lines;
4. Complex intersections between power lines and other cables.

Solutions:
1. When encountering junctions with dense or multiple crossing lines, the system may issue a warning. In these situations, switch to manual flight to pass through the area.
2. In areas where tree canopies are very close to the wires, or where there are black PVC-insulated wires under the canopies, it is recommended not to use Power Line Follow.

Is it necessary to perform IMU calibrations during a Power Line Follow task?
There is no need to specifically perform IMU calibrations during Power Line Follow tasks, as the acceleration and deceleration movements of the drone platform while passing towers can also serve as IMU calibrations to some extent.

How to use Zenmuse L3's real-time point cloud data? Is it possible to subscribe to and parse data streams?
1. Real-time point cloud data stream subscription: When recording point cloud, Zenmuse L3 supports subscribing to real-time point cloud data streams via OSDK/PSDK devices. For details on the data parsing protocol, refer to the SDK developer documentation available on the DJI Developer webpage.
2. Offline export of real-time point cloud data: After point cloud recording is complete, Zenmuse L3 saves a copy of the real-time point cloud data stream. These files, with the .ldrt extension, can be found in the media directory of the memory card for the corresponding flight. For details on file format, refer to the Zenmuse L3 User Manual available in the Downloads section in the navigation bar of this page.

Does Zenmuse L3's real-time point cloud data support cloud sharing?
Yes. After the operation, you can select real-time point cloud results in DJI Pilot 2 and upload them to the relevant project in DJI FlightHub 2 for emergency decision-making.

Is the accuracy of Zenmuse L3's real-time point cloud data consistent with the point cloud generated by DJI Terra?
No. The real-time point cloud from Zenmuse L3 is intended only for field operation preview, and its accuracy is not guaranteed. For high-accuracy applications, you should use DJI Terra for offline point cloud reconstruction.

How do I measure the real-time point cloud from Zenmuse L3?
After point cloud recording is complete, you can playback point cloud preview on DJI Pilot 2 and use measurement tools to measure location, distance, and area.

When DJI Matrice 400 is equipped with Zenmuse L3, what is the supported altitude for Real-Time Follow?
DJI Matrice 400 supports Real-Time Follow at altitudes from 30 to 300 m.

Which types of flight tasks and flying modes does Zenmuse L3 support?
It supports Waypoint Route, Area Route, and Linear Route. For flying modes, it supports Terrain Follow and Power Line Follow.

What is the function of Zenmuse L3's Point Cloud Result Preview?
When editing a flight route in DJI Pilot 2, users can preview estimated point cloud results in real time based on parameters such as flight altitude, flight speed, side overlap ratio, scanning mode, pulse rate, and object reflectivity. The preview shows outputs including the Flight Band Center Scatter Plot, Adjacent Flight Band Center Scatter Plot, and Min Density Scatter Plot.

How does Zenmuse L3 calibrate itself, and when is calibration necessary?
When Zenmuse L3 exhibits issues such as rule-based coloring errors or point cloud layering, it is recommended to use DJI Terra to perform LiDAR calibration. For detailed instructions, refer to the Zenmuse L3 User Manual available in the Downloads section in the navigation bar of this page.

How do I use DJI Terra's PPK function? Which satellite observation data formats are supported?
DJI Terra V5.1.0 and later versions support PPK. Local PPK accepts the following satellite observation data formats:
DAT: Generated in Base Station Mode by D-RTK 3 Multifunctional Station and D-RTK 2
RINEX: v2.1x, v3.0x
RTCM: v3.0, v3.1, v3.2, v3.3 (protocols: MSM3, MSM4, MSM5, MSM6, MSM7)
OEM: OEM4, OEM6

^{For field operation, ensure the distance between the Multifunctional Station and the aircraft does not exceed 15 km, and the Multifunctional Station supports satellite observation with more than two GNSS constellations.}

What is the accuracy of Zenmuse L3’s point cloud data?
At 150 m flight altitude with 15° FOV and vertical scan mode, and with DJI Terra post-processed output, the horizontal accuracy is 5 cm and the vertical accuracy is 4 cm. For more details, refer to the L3 User Manual.

Can I export and use the point cloud data from Zenmuse L3 in third-party software?
Yes. DJI Terra supports point cloud export in the following formats:
· LAS/PLY/PCD/S3MB: For point clouds
· DXF/SHX/DBF/PRJ: For 2D vector map results
· OBJ/OSGB: For 3D reconstruction
· GeoTIFF: For DEM and reflectivity map results

What should I do if the Zenmuse L3 camera displays black and white stripes during operation?
This issue typically occurs when the gimbal is initializing or the LiDAR unit is not ready. Wait until the initialization completes. If the issue persists, check for firmware updates and ensure all connections are secure.

Can I use DJI Pilot 2 to measure point cloud data in real time during flight?
No. While DJI Pilot 2 provides real-time point cloud visualization, measurements can only be taken post-flight using playback mode or by processing the data in DJI Terra.

Does the L3 support dual-antenna orientation using the RTK module?
No. The L3 system does not support dual-antenna orientation. It uses a single antenna setup for positioning and relies on IMU data for orientation.

What is the recommended overlap ratio for area scanning with the L3?
For best results, a 20% side overlap and at least 60% forward overlap are recommended during flight route planning to ensure point cloud density and data integrity.

Does L3 support colorized point clouds?
Yes. When using DJI Terra to post-process point cloud data collected by the L3, you can generate colorized point clouds using RGB imagery from the onboard mapping camera.

How does Zenmuse L3 handle power outages or sudden disconnections mid-flight?
L3 has onboard data storage that retains the most recent point cloud data collected. However, it's recommended to ensure stable power and avoid disconnections to prevent data loss or corruption.