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Their dense morphology, irregular street networks, and overlapping building structures make conventional mapping approaches difficult. These areas are often characterized by limited access to essential services such as water supply, sanitation, and waste collection, as well as insecure land tenure. Despite their scale, favelas are frequently absent from official maps, limiting their inclusion in urban planning processes. This Data Descriptor presents a terrestrial LiDAR dataset collected with five distinct devices along a standardized 360-meter survey route in Jardim Colombo, a favela in S\u00e3o Paulo, Brazil, covering approximately 5,685\u2009m\u00b2. The area was also surveyed using aerial photogrammetry and a total station to establish a spatial reference supporting comparison among the terrestrial LiDAR devices. A multicriteria framework evaluates device performance considering point density, completeness, spatial uniformity, and logistical constraints. These data support research in urban environments where accurate spatial representation remains a critical challenge.<\/jats:p>","DOI":"10.1038\/s41597-026-07222-2","type":"journal-article","created":{"date-parts":[[2026,5,22]],"date-time":"2026-05-22T11:23:44Z","timestamp":1779449024000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Evaluation of LiDAR devices and data to conduct terrestrial surveys in favelas"],"prefix":"10.1038","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0009-0003-6330-7499","authenticated-orcid":false,"given":"Stefania","family":"Dimitrov","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0909-5379","authenticated-orcid":false,"given":"Fabio","family":"Duarte","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Cezar Lima Ferreira","family":"Barbalho","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Silvia Maria","family":"Ferreira","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Carlo","family":"Ratti","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ang\u00e9lica Aparecida Tanus Benatti","family":"Alvim","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2026,5,22]]},"reference":[{"key":"7222_CR1","unstructured":"United Nations. One in four people in cities live in slums, UN report shows https:\/\/news.un.org\/pt\/story\/2023\/07\/1817582 (2023)."},{"key":"7222_CR2","unstructured":"Instituto Brasileiro de Geografia e Estat\u00edstica (IBGE). Favelas e comunidades urbanas https:\/\/www.ibge.gov.br\/geociencias\/organizacao-do-territorio\/tipologias-do-territorio\/2265-npaglomerados-subnormais\/15788-aglomerados-subnormais.html (2024)."},{"key":"7222_CR3","doi-asserted-by":"publisher","first-page":"727","DOI":"10.1038\/s44284-024-00159-w","volume":"1","author":"W Chen","year":"2024","unstructured":"Chen, W. Underestimated urban slum populations. Nat Cities 1, 727, https:\/\/doi.org\/10.1038\/s44284-024-00159-w (2024).","journal-title":"Nat Cities"},{"key":"7222_CR4","unstructured":"Instituto Brasileiro de Geografia e Estat\u00edstica (IBGE). 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