Terrestrial Structure from Motion Photogrammetry for Deriving Forest Inventory Data

UAV Photogrammetry for Estimating Stand Parameters of an Old Japanese Larch Plantation Using Different Filtering Methods at Two Flight Altitudes

Old plantations are iconic sites, and estimating stand parameters is crucial for valuation and management. This study aimed to estimate stand parameters of a 115-year-old Japanese larch (Larix kaempferi (Lamb.) Carrière) plantation at the University of Tokyo Hokkaido Forest (UTHF) in central Hokkaido, northern Japan, using unmanned aerial vehicle (UAV) photogrammetry. High-resolution RGB imagery was collected using a DJI Matrice 300 real-time kinematic (RTK) at altitudes of 80 and 120 m. Structure from motion (SfM) technology was applied to generate 3D point clouds and orthomosaics. We used different filtering methods, search radii, and window sizes for individual tree detection (ITD), and tree height (TH) and crown area (CA) were estimated from a canopy height model (CHM). Additionally, a freely available shiny R package (SRP) and manually digitalized CA were used. A multiple linear regression (MLR) model was used to estimate the diameter at breast height (DBH), stem volume (V), and carbon stock (CST). Higher accuracy was obtained for ITD (F-score: 0.8-0.87) and TH (R2: 0.76-0.77; RMSE: 1.45-1.55 m) than for other stand parameters. Overall, the flying altitude of the UAV and selected filtering methods influenced the success of stand parameter estimation in old-aged plantations, with the UAV at 80 m generating more accurate results for ITD, CA, and DBH, while the UAV at 120 m produced higher accuracy for TH, V, and CST with Gaussian and mean filtering.

Remarks on Geomatics Measurement Methods Focused on Forestry Inventory

This contribution focuses on a comparison of modern geomatics technologies for the derivation of growth parameters in forest management. The present text summarizes the results of our measurements over the last five years. As a case project, a mountain spruce forest with planned forest logging was selected. In this locality, terrestrial laser scanning (TLS) and terrestrial and drone close-range photogrammetry were experimentally used, as was the use of PLS mobile technology (personal laser scanning) and ALS (aerial laser scanning). Results from the data joining, usability, and economics of all technologies for forest management and ecology were discussed. ALS is expensive for small areas and the results were not suitable for a detailed parameter derivation. The RPAS (remotely piloted aircraft systems, known as "drones") method of data acquisition combines the benefits of close-range and aerial photogrammetry. If the approximate height and number of the trees are known, one can approximately calculate the extracted cubage of wood mass before forest logging. The use of conventional terrestrial close-range photogrammetry and TLS proved to be inappropriate and practically unusable in our case, and also in standard forestry practice after consultation with forestry workers. On the other hand, the use of PLS is very simple and allows you to quickly define ordered parameters and further calculate, for example, the cubic volume of wood stockpiles. The results from our research into forestry show that drones can be used to estimate quantities (wood cubature) and inspect the health status of spruce forests, However, PLS seems, nowadays, to be the best solution in forest management for deriving forest parameters. Our results are mainly oriented to practice and in no way diminish the general research in this area.

Extraction of soybean plant trait parameters based on SfM-MVS algorithm combined with GRNN

Soybean is an important grain and oil crop worldwide and is rich in nutritional value. Phenotypic morphology plays an important role in the selection and breeding of excellent soybean varieties to achieve high yield. Nowadays, the mainstream manual phenotypic measurement has some problems such as strong subjectivity, high labor intensity and slow speed. To address the problems, a three-dimensional (3D) reconstruction method for soybean plants based on structure from motion (SFM) was proposed. First, the 3D point cloud of a soybean plant was reconstructed from multi-view images obtained by a smartphone based on the SFM algorithm. Second, low-pass filtering, Gaussian filtering, Ordinary Least Square (OLS) plane fitting, and Laplacian smoothing were used in fusion to automatically segment point cloud data, such as individual plants, stems, and leaves. Finally, Eleven morphological traits, such as plant height, minimum bounding box volume per plant, leaf projection area, leaf projection length and width, and leaf tilt information, were accurately and nondestructively measured by the proposed an algorithm for leaf phenotype measurement (LPM). Moreover, Support Vector Machine (SVM), Back Propagation Neural Network (BP), and Back Propagation Neural Network (GRNN) prediction models were established to predict and identify soybean plant varieties. The results indicated that, compared with the manual measurement, the root mean square error (RMSE) of plant height, leaf length, and leaf width were 0.9997, 0.2357, and 0.2666 cm, and the mean absolute percentage error (MAPE) were 2.7013%, 1.4706%, and 1.8669%, and the coefficients of determination (R2) were 0.9775, 0.9785, and 0.9487, respectively. The accuracy of predicting plant species according to the six leaf parameters was highest when using GRNN, reaching 0.9211, and the RMSE was 18.3263. Based on the phenotypic traits of plants, the differences between C3, 47-6 and W82 soybeans were analyzed genetically, and because C3 was an insect-resistant line, the trait parametes (minimum box volume per plant, number of leaves, minimum size of single leaf box, leaf projection area).The results show that the proposed method can effectively extract the 3D phenotypic structure information of soybean plants and leaves without loss which has the potential using ability in other plants with dense leaves.

The Effect of Surrounding Vegetation on Basal Stem Measurements Acquired Using Low-Cost Depth Sensors in Urban and Native Forest Environments

Three colour and depth (RGB-D) devices were compared, to assess the effect of depth image misalignment, resulting from simultaneous localisation and mapping (SLAM) error, due to forest structure complexity. Urban parkland (S1) was used to assess stem density, and understory vegetation (≤1.3 m) was assessed in native woodland (S2). Individual stem and continuous capture approaches were used, with stem diameter at breast height (DBH) estimated. Misalignment was present within point clouds; however, no significant differences in DBH were observed for stems captured at S1 with either approach (Kinect p = 0.16; iPad p = 0.27; Zed p = 0.79). Using continuous capture, the iPad was the only RGB-D device to maintain SLAM in all S2 plots. There was significant correlation between DBH error and surrounding understory vegetation with the Kinect device (p = 0.04). Conversely, there was no significant relationship between DBH error and understory vegetation for the iPad (p = 0.55) and Zed (p = 0.86). The iPad had the lowest DBH root-mean-square error (RMSE) across both individual stem (RMSE = 2.16cm) and continuous (RMSE = 3.23cm) capture approaches. The results suggest that the assessed RGB-D devices are more capable of operation within complex forest environments than previous generations.

Estimating the attributes of urban trees using terrestrial photogrammetry

Today, different methods are used to measure two-dimensional (2D) and three-dimensional (3D) attributes of trees. One of these methods, which is considered in recent years is using point clouds and a 3D model extracted from terrestrial photogrammetry (TP). This study aims to estimate the 2D and 3D attributes of urban trees at three levels of seedlings, single trees and sample plot using TP. Structure-from-Motion with Multi-View Stereo-photogrammetry (SfM-MVS) method was used to derive the point clouds and the 3D model. Comparing estimated values of diameter at the middle of trunk of seedlings and diameter at breast height (DBH) of trees, using TP with measured values showed that the values of RMSE% were < 2% at three levels of seedlings, single trees and sample plot. Furthermore, validation of the estimated values of total height and crown height attributes of seedlings and trees at three levels showed that the RMSE% did not exceed 4% and 5%, respectively. Considering the overlap of tree crowns with each other in the sample plot, the average diameter of the crown attribute was estimated only in seedlings and single tree levels with RMSE% = 6.51% and 9.34%, respectively. The validation of estimated values of stem volume of seedlings and trees at three levels showed that the lowest errors were returned from trees within a sample plot with RMSE% = 14.37%, whereas the highest rates of errors were achieved for seedlings with RMSE% = 20.99%. As an alternative to approaches such as employing laser scanners, this method is quick, inexpensive, non-destructive, and does not need specialized equipment.

Spatial Scale Effect and Correction of Forest Aboveground Biomass Estimation Using Remote Sensing

Forest biomass is critically important for forest dynamics in the carbon cycle. However, large-scale AGB mapping applications from remote sensing data still carry large uncertainty. In this study, an AGB estimation model was first established with three different remote sensing datasets of GF-2, Sentinel-2 and Landsat-8. Next, the optimal scale estimation result was considered as a reference AGB to obtain the relative true AGB distribution at different scales based on the law of conservation of mass, and the error of the scale effect of AGB estimation at various spatial resolutions was analyzed. Then, the information entropy of land use type was calculated to identify the heterogeneity of pixels. Finally, a scale conversion method for the entropy-weighted index was developed to correct the scale error of the estimated AGB results from coarse-resolution remote sensing images. The results showed that the random forest model had better prediction accuracy for GF-2 (4 m), Sentinel-2 (10 m) and Landsat-8 (30 m) AGB mapping. The determination coefficient between predicted and measured AGB was 0.5711, 0.4819 and 0.4321, respectively. Compared to uncorrected AGB, R2 between scale-corrected results and relative true AGB increased from 0.6226 to 0.6725 for Sentinel-2, and increased from 0.5910 to 0.6704 for Landsat-8. The scale error was effectively corrected. This study can provide a reference for forest AGB estimation and scale error reduction for AGB production upscaling with consideration of the spatial heterogeneity of the forest surface.

Automatic Forest DBH Measurement Based on Structure from Motion Photogrammetry

Measuring diameter at breast height (DBH) is an essential but laborious task in the traditional forest inventory; it motivates people to develop alternative methods based on remote sensing technologies. In recent years, structure from motion (SfM) photogrammetry has drawn researchers’ attention in forest surveying for its economy and high precision as the light detection and ranging (LiDAR) methods are always expensive. This study explores an automatic DBH measurement method based on SfM. Firstly, we proposed a new image acquisition technique that could reduce the number of images for the high accuracy of DBH measurement. Secondly, we developed an automatic DBH estimation pipeline based on sample consensus (RANSAC) and cylinder fitting with the Least Median of Squares with impressive DBH estimation speed and high accuracy comparable to methods based on LiDAR. For the application of SfM on forest survey, a graphical interface software Auto-DBH integrated with SfM reconstruction and automatic DBH estimation pipeline was developed. We sampled four plots with different species to verify the performance of the proposed method. The result showed that the accuracy of the first two plots, where trees’ stems were of good roundness, was high with a root mean squared error (RMSE) of 1.41 cm and 1.118 cm and a mean relative error of 4.78% and 5.70%, respectively. The third plot’s damaged trunks and low roundness stems reduced the accuracy with an RMSE of 3.16 cm and a mean relative error of 10.74%. The average automatic detection rate of the trees in the four plots was 91%. Our automatic DBH estimation procedure is relatively fast and on average takes only 2 s to estimate the DBH of a tree, which is much more rapid than direct physical measurements of tree trunk diameters. The result proves that Auto-DBH could reach high accuracy, close to terrestrial laser scanning (TLS) in plot scale forest DBH measurement. Our successful application of automatic DBH measurement indicates that SfM is promising in forest inventory.

Estimating Tree Defects with Point Clouds Developed from Active and Passive Sensors

Traditional inventories require large investments of resources and a trained workforce to measure tree sizes and characteristics that affect wood quality and value, such as the presence of defects and damages. Handheld light detection and ranging (LiDAR) and photogrammetric point clouds developed using Structure from Motion (SfM) algorithms achieved promising results in tree detection and dimensional measurements. However, few studies have utilized handheld LiDAR or SfM to assess tree defects or damages. We used a Samsung Galaxy S7 smartphone camera to photograph trees and create digital models using SfM, and a handheld GeoSLAM Zeb Horizon to create LiDAR point cloud models of some of the main tree species from the Pacific Northwest. We compared measurements of damage count and damage length obtained from handheld LiDAR, SfM photogrammetry, and traditional field methods using linear mixed-effects models. The field method recorded nearly twice as many damages per tree as the handheld LiDAR and SfM methods, but there was no evidence that damage length measurements varied between the three survey methods. Lower damage counts derived from LiDAR and SfM were likely driven by the limited point cloud reconstructions of the upper stems, as usable tree heights were achieved, on average, at 13.6 m for LiDAR and 9.3 m for SfM, even though mean field-measured tree heights was 31.2 m. Our results suggest that handheld LiDAR and SfM approaches show potential for detection and measurement of tree damages, at least on the lower stem.

Automated Inventory of Broadleaf Tree Plantations with UAS Imagery

With the increased availability of unmanned aerial systems (UAS) imagery, digitalized forest inventory has gained prominence in recent years. This paper presents a methodology for automated measurement of tree height and crown area in two broadleaf tree plantations of different species and ages using two different UAS platforms. Using structure from motion (SfM), we generated canopy height models (CHMs) for each broadleaf plantation in Indiana, USA. From the CHMs, we calculated individual tree parameters automatically through an open-source web tool developed using the Shiny R package and assessed the accuracy against field measurements. Our analysis shows higher tree measurement accuracy with the datasets derived from multi-rotor platform (M600) than with the fixed wing platform (Bramor). The results show that our automated method could identify individual trees (F-score > 90%) and tree biometrics (root mean square error < 1.2 m for height and <1 m2 for the crown area) with reasonably good accuracy. Moreover, our automated tool can efficiently calculate tree-level biometric estimations for 4600 trees within 30 min based on a CHM from UAS-SfM derived images. This automated UAS imagery approach for tree-level forest measurements will be beneficial to landowners and forest managers by streamlining their broadleaf forest measurement and monitoring effort.

Green Visual Sensor of Plant: An Energy-Efficient Compressive Video Sensing in the Internet of Things

Internet of Things (IoT) realizes the real-time video monitoring of plant propagation or growth in the wild. However, the monitoring time is seriously limited by the battery capacity of the visual sensor, which poses a challenge to the long-working plant monitoring. Video coding is the most consuming component in a visual sensor, it is important to design an energy-efficient video codec in order to extend the time of monitoring plants. This article presents an energy-efficient Compressive Video Sensing (CVS) system to make the visual sensor green. We fuse a context-based allocation into CVS to improve the reconstruction quality with fewer computations. Especially, considering the practicality of CVS, we extract the contexts of video frames from compressive measurements but not from original pixels. Adapting to these contexts, more measurements are allocated to capture the complex structures but fewer to the simple structures. This adaptive allocation enables the low-complexity recovery algorithm to produce high-quality reconstructed video sequences. Experimental results show that by deploying the proposed context-based CVS system on the visual sensor, the rate-distortion performance is significantly improved when comparing it with some state-of-the-art methods, and the computational complexity is also reduced, resulting in a low energy consumption.

The Potential of Low-Cost 3D Imaging Technologies for Forestry Applications: Setting a Research Agenda for Low-Cost Remote Sensing Inventory Tasks

Limitations with benchmark light detection and ranging (LiDAR) technologies in forestry have prompted the exploration of handheld or wearable low-cost 3D sensors (<2000 USD). These sensors are now being integrated into consumer devices, such as the Apple iPad Pro 2020. This study was aimed at determining future research recommendations to promote the adoption of terrestrial low-cost technologies within forest measurement tasks. We reviewed the current literature surrounding the application of low-cost 3D remote sensing (RS) technologies. We also surveyed forestry professionals to determine what inventory metrics were considered important and/or difficult to capture using conventional methods. The current research focus regarding inventory metrics captured by low-cost sensors aligns with the metrics identified as important by survey respondents. Based on the literature review and survey, a suite of research directions are proposed to democratise the access to and development of low-cost 3D for forestry: (1) the development of methods for integrating standalone colour and depth (RGB-D) sensors into handheld or wearable devices; (2) the development of a sensor-agnostic method for determining the optimal capture procedures with low-cost RS technologies in forestry settings; (3) the development of simultaneous localisation and mapping (SLAM) algorithms designed for forestry environments; and (4) the exploration of plot-scale forestry captures that utilise low-cost devices at both terrestrial and airborne scales.

Unimodal and Multimodal Perception for Forest Management: Review and Dataset

Robotics navigation and perception for forest management are challenging due to the existence of many obstacles to detect and avoid and the sharp illumination changes. Advanced perception systems are needed because they can enable the development of robotic and machinery solutions to accomplish a smarter, more precise, and sustainable forestry. This article presents a state-of-the-art review about unimodal and multimodal perception in forests, detailing the current developed work about perception using a single type of sensors (unimodal) and by combining data from different kinds of sensors (multimodal). This work also makes a comparison between existing perception datasets in the literature and presents a new multimodal dataset, composed by images and laser scanning data, as a contribution for this research field. Lastly, a critical analysis of the works collected is conducted by identifying strengths and research trends in this domain.

Forest Structural Complexity Tool—An Open Source, Fully-Automated Tool for Measuring Forest Point Clouds

Forest mensuration remains critical in managing our forests sustainably, however, capturing such measurements remains costly, time-consuming and provides minimal amounts of information such as diameter at breast height (DBH), location, and height. Plot scale remote sensing techniques show great promise in extracting detailed forest measurements rapidly and cheaply, however, they have been held back from large-scale implementation due to the complex and time-consuming workflows required to utilize them. This work is focused on describing and evaluating an approach to create a robust, sensor-agnostic and fully automated forest point cloud measurement tool called the Forest Structural Complexity Tool (FSCT). The performance of FSCT is evaluated using 49 forest plots of terrestrial laser scanned (TLS) point clouds and 7022 destructively sampled manual diameter measurements of the stems. FSCT was able to match 5141 of the reference diameter measurements fully automatically with mean, median and root mean squared errors (RMSE) of 0.032 m, 0.02 m, and 0.103 m respectively. A video demonstration is also provided to qualitatively demonstrate the diversity of point cloud datasets that the tool is capable of measuring. FSCT is provided as open source, with the goal of enabling plot scale remote sensing techniques to replace most structural forest mensuration in research and industry. Future work on this project will seek to make incremental improvements to this methodology to further improve the reliability and accuracy of this tool in most high-resolution forest point clouds.

Above-ground biomass references for urban trees from terrestrial laser scanning data

BACKGROUND AND AIMS

Within extending urban areas, trees serve a multitude of functions (e.g. carbon storage, suppression of air pollution, mitigation of the 'heat island' effect, oxygen, shade and recreation). Many of these services are positively correlated with tree size and structure. The quantification of above-ground biomass (AGB) is of especial importance to assess its carbon storage potential. However, quantification of AGB is difficult and the allometries applied are often based on forest trees, which are subject to very different growing conditions, competition and form. In this article we highlight the potential of terrestrial laser scanning (TLS) techniques to extract highly detailed information on urban tree structure and AGB.

METHODS

Fifty-five urban trees distributed over seven cities in Switzerland were measured using TLS and traditional forest inventory techniques before they were felled and weighed. Tree structure, volume and AGB from the TLS point clouds were extracted using quantitative structure modelling. TLS-derived AGB estimates were compared with AGB estimates based on forest tree allometries dependent on diameter at breast height only. The correlations of various tree metrics as AGB predictors were assessed.

KEY RESULTS

Estimates of AGB derived by TLS showed good performance when compared with destructively harvested references, with an R2 of 0.954 (RMSE = 556 kg) compared with 0.837 (RMSE = 1159 kg) for allometrically derived AGB estimates. A correlation analysis showed that different TLS-derived wood volume estimates as well as trunk diameters and tree crown metrics show high correlation in describing total wood AGB, outperforming tree height.

CONCLUSIONS

Wood volume estimates based on TLS show high potential to estimate tree AGB independent of tree species, size and form. This allows us to retrieve highly accurate non-destructive AGB estimates that could be used to establish new allometric equations without the need for extensive destructive harvesting.

Scots pine stands biomass assessment using 3D data from unmanned aerial vehicle imagery in the Chernobyl Exclusion Zone

Thirty-five years after the accident, large forest areas in the Chernobyl Exclusion Zone still contain huge amounts of radionuclides released from the Chernobyl Nuclear Power Plant Unit 4 in April 1986. An assessment of the radiological and radioecological consequences of persistent radioactive contamination and development of remediation strategies for Chernobyl forests imply acquiring comprehensive data on their contamination levels and dynamics of biomass inventories. The most accurate forest inventory data can be obtained in ground timber cruises. However, such cruises in radioactive contaminated forest ecosystems in the Chernobyl Exclusion Zone result in radiation exposures of the personnel involved, which means the need for development of the remote sensing methods. The purpose of this study is to analyze the applicability and limitations of the photogrammetric method for the remote large-scale monitoring of aboveground biomass inventories. Based on field measurements, we estimated the biomass inventories in 31 Scots pine stands including both artificial plantations and natural populations. The stands differed significantly in age (from a few years in natural populations to 115 years in the oldest plantation), productivity (from 0.4 to 19.8 kg m^-2), mean height (from 4.1 to 36 m), and other parameters. Photogrammetric data were obtained from the same stands using unmanned aerial vehicle (UAV). These data were then processed using two approaches to derive the canopy height model (CHM) parameters which were tested for correlation with the aboveground biomass inventories. In the first approach, we found that the inventories correlated well with the mean value of CHM of the site (R² = 0.79). In the second approach, the total aboveground biomass was approximated by a function of the average height of trees detected at the site and the total crown projection area (R² = 0.78). Among other local parameters, the total crown projection area was identified as the major factor impacting the accuracy of the aboveground biomass inventory estimates from the UAV survey data in both approaches. In the dense stands with the high total crown projections areas (more than 0.90), the average relative deviations of the UAV-based aboveground biomass estimates from the results of the field measurements were close to 0, which means the adequate accuracy of the UAV surveys data for radioecological monitoring purposes. The relative deviations of the UAV-based estimates in both approaches increased in the stands consisting of separated groups of trees, which indicates potential limitation of the approaches and need for their further development.

Measurement of Forest Inventory Parameters with Apple iPad Pro and Integrated LiDAR Technology

The estimation of single tree and complete stand information is one of the central tasks of forest inventory. In recent years, automatic algorithms have been successfully developed for the detection and measurement of trees with laser scanning technology. Nevertheless, most of the forest inventories are nowadays carried out with manual tree measurements using traditional instruments. This is due to the high investment costs for modern laser scanner equipment and, in particular, the time-consuming and incomplete nature of data acquisition with stationary terrestrial laser scanners. Traditionally, forest inventory data are collected through manual surveys with calipers or tapes. Practically, this is both labor and time-consuming. In 2020, Apple implemented a Light Detection and Ranging (LiDAR) sensor in the new Apple iPad Pro (4th Gen) and iPhone Pro 12. Since then, access to LiDAR-generated 3D point clouds has become possible with consumer-level devices. In this study, an Apple iPad Pro was tested to produce 3D point clouds, and its performance was compared with a personal laser scanning (PLS) approach to estimate individual tree parameters in different forest types and structures. Reference data were obtained by traditional measurements on 21 circular forest inventory sample plots with a 7 m radius. The tree mapping with the iPad showed a detection rate of 97.3% compared to 99.5% with the PLS scans for trees with a lower diameter at a breast height (dbh) threshold of 10 cm. The root mean square error (RMSE) of the best dbh measurement out of five different dbh modeling approaches was 3.13 cm with the iPad and 1.59 cm with PLS. The data acquisition time with the iPad was approximately 7.51 min per sample plot; this is twice as long as that with PLS but 2.5 times shorter than that with traditional forest inventory equipment. In conclusion, the proposed forest inventory with the iPad is generally feasible and achieves accurate and precise stem counts and dbh measurements with efficient labor effort compared to traditional approaches. Along with future technological developments, it is expected that other consumer-level handheld devices with integrated laser scanners will also be developed beyond the iPad, which will serve as an accurate and cost-efficient alternative solution to the approved but relatively expensive TLS and PLS systems. Such a development would be mandatory to broadly establish digital technology and fully automated routines in forest inventory practice. Finally, high-level progress is generally expected for the broader scientific community in forest ecosystem monitoring, as the collection of highly precise 3D point cloud data is no longer hindered by financial burdens.

Low Cost Automatic Reconstruction of Tree Structure by AdQSM with Terrestrial Close-Range Photogrammetry

The quantitative structure model (QSM) contains the branch geometry and attributes of the tree. AdQSM is a new, accurate, and detailed tree QSM. In this paper, an automatic modeling method based on AdQSM is developed, and a low-cost technical scheme of tree structure modeling is provided, so that AdQSM can be freely used by more people. First, we used two digital cameras to collect two-dimensional (2D) photos of trees and generated three-dimensional (3D) point clouds of plot and segmented individual tree from the plot point clouds. Then a new QSM-AdQSM was used to construct tree model from point clouds of 44 trees. Finally, to verify the effectiveness of our method, the diameter at breast height (DBH), tree height, and trunk volume were derived from the reconstructed tree model. These parameters extracted from AdQSM were compared with the reference values from forest inventory. For the DBH, the relative bias (rBias), root mean square error (RMSE), and coefficient of variation of root mean square error (rRMSE) were 4.26%, 1.93 cm, and 6.60%. For the tree height, the rBias, RMSE, and rRMSE were—10.86%, 1.67 m, and 12.34%. The determination coefficient (R2) of DBH and tree height estimated by AdQSM and the reference value were 0.94 and 0.86. We used the trunk volume calculated by the allometric equation as a reference value to test the accuracy of AdQSM. The trunk volume was estimated based on AdQSM, and its bias was 0.07066 m3, rBias was 18.73%, RMSE was 0.12369 m3, rRMSE was 32.78%. To better evaluate the accuracy of QSM’s reconstruction of the trunk volume, we compared AdQSM and TreeQSM in the same dataset. The bias of the trunk volume estimated based on TreeQSM was −0.05071 m3, and the rBias was −13.44%, RMSE was 0.13267 m3, rRMSE was 35.16%. At 95% confidence interval level, the concordance correlation coefficient (CCC = 0.77) of the agreement between the estimated tree trunk volume of AdQSM and the reference value was greater than that of TreeQSM (CCC = 0.60). The significance of this research is as follows: (1) The automatic modeling method based on AdQSM is developed, which expands the application scope of AdQSM; (2) provide low-cost photogrammetric point cloud as the input data of AdQSM; (3) explore the potential of AdQSM to reconstruct forest terrestrial photogrammetric point clouds.

Assessment of Tree Diameter Estimation Methods from Mobile Laser Scanning in a Historic Garden

Geo-referenced 3D models are currently in demand as an initial knowledge base for cultural heritage projects and forest inventories. The mobile laser scanning (MLS) used for geo-referenced 3D models offers ever greater efficiency in the acquisition of 3D data and their subsequent application in the fields of forestry. In this study, we have analysed the performance of an MLS with simultaneous localisation and mapping technology (SLAM) for compiling a tree inventory in a historic garden, and we assessed the accuracy of the estimates of diameter at breast height (DBH, a height of 1.30 m) calculated from three fitting algorithms: RANSAC, Monte Carlo, and Optimal Circle. The reference sample used was 378 trees from the Island Garden, a historic garden and UNESCO World Heritage site in Aranjuez, Spain. The time taken to acquire the data by MLS was 27 min 37 s, in an area of 2.38 ha. The best results were obtained with the Monte Carlo fitting algorithm, which was able to estimate the DBH of 77% of the 378 trees in the study, with a root mean squared error (RMSE) of 5.31 cm and a bias of 1.23 cm. The proposed methodology enabled a supervised detection of the trees and automatically estimated the DBH of most trees in the study, making this a useful tool for the management and conservation of a historic garden.

Applicability of Structure-from-Motion Photogrammetry on Forest Measurement in the Northern Ethiopian Highlands

Ethiopia is one of the countries with the most degraded forest resources. Information on tree structure is needed at some points in the process to assess the appropriateness of forest management. The objectives are to examine whether the Structure from Motion (SfM)-based photogrammetry can be used to derive the forest structural parameters, and how the tree structural parameters can vary by location. In this study, the possible applicability of low-cost SfM-based photogrammetry was evaluated for forest management and conservation purposes in the Adi Zaboy watershed of the Northern Ethiopian highlands. In the watershed, dwarf Acacia etbaica was sparsely distributed. Consequently, the full three-dimensional point clouds of the individual trees were generated, which provided a wide variety of tree structural parameters in a non-destructive manner. The R2 values for tree height, canopy width, and stump diameter were 0.936, 0.891, and 0.808, respectively, and the corresponding RMSE values were 0.128 m, 0.331 m, and 0.886 cm. In addition, differences in forest structure and composition were caused by differences in the environment. The SfM-based photogrammetry would provide fundamental information to meet the demand of sustainable forest management from a morphological point of view, especially in forests of Ethiopian highlands.

Sensor Agnostic Semantic Segmentation of Structurally Diverse and Complex Forest Point Clouds Using Deep Learning

Forest inventories play an important role in enabling informed decisions to be made for the management and conservation of forest resources; however, the process of collecting inventory information is laborious. Despite advancements in mapping technologies allowing forests to be digitized in finer granularity than ever before, it is still common for forest measurements to be collected using simple tools such as calipers, measuring tapes, and hypsometers. Dense understory vegetation and complex forest structures can present substantial challenges to point cloud processing tools, often leading to erroneous measurements, and making them of less utility in complex forests. To address this challenge, this research demonstrates an effective deep learning approach for semantically segmenting high-resolution forest point clouds from multiple different sensing systems in diverse forest conditions. Seven diverse point cloud datasets were manually segmented to train and evaluate this model, resulting in per-class segmentation accuracies of Terrain: 95.92%, Vegetation: 96.02%, Coarse Woody Debris: 54.98%, and Stem: 96.09%. By exploiting the segmented point cloud, we also present a method of extracting a Digital Terrain Model (DTM) from such segmented point clouds. This approach was applied to a set of six point clouds that were made publicly available as part of a benchmarking study to evaluate the DTM performance. The mean DTM error was 0.04 m relative to the reference with 99.9% completeness. These approaches serve as useful steps toward a fully automated and reliable measurement extraction tool, agnostic to the sensing technology used or the complexity of the forest, provided that the point cloud has sufficient coverage and accuracy. Ongoing work will see these models incorporated into a fully automated forest measurement tool for the extraction of structural metrics for applications in forestry, conservation, and research.

Urban Tree Species Identification and Carbon Stock Mapping for Urban Green Planning and Management

Recently, the severe intensification of atmospheric carbon has highlighted the importance of urban tree contributions in atmospheric carbon mitigations in city areas considering sustainable urban green planning and management systems. Explicit and timely information on urban trees and their roles in the atmospheric Carbon Stock (CS) are essential for policymakers to take immediate actions to ameliorate the effects of deforestation and their worsening outcomes. In this study, a detailed methodology for urban tree CS calibration and mapping was developed for the small urban area of Sassuolo in Italy. For dominant tree species classification, a remote sensing approach was applied, utilizing a high-resolution WV3 image. Five dominant species were identified and classified by applying the Object-Based Image Analysis (OBIA) approach with an overall accuracy of 78%. The CS calibration was done by utilizing an allometric model based on the field data of tree dendrometry—i.e., Height (H) and Diameter at Breast Height (DBH). For geometric measurements, a terrestrial photogrammetric approach known as Structure-from-Motion (SfM) was utilized. Out of 22 randomly selected sample plots of 100 square meters (10 m × 10 m) each, seven plots were utilized to validate the results of the CS calibration and mapping. In this study, CS mapping was done in an efficient and convenient way, highlighting higher CS and lower CS zones while recognizing the dominant tree species contributions. This study will help city planners initiate CS mapping and predict the possible CS for larger urban regions to ensure a sustainable urban green management system.

The Comparison of Stem Curve Accuracy Determined from Point Clouds Acquired by Different Terrestrial Remote Sensing Methods

The knowledge of tree characteristics, especially the shape of standing trees, is important for living tree volume estimation, the computation of a wide range of forest stand features, and the evaluation of stand stability. Nowadays, nondestructive and accurate approaches to data collection in the forest environment are required. Therefore, the implementation of accurate point cloud-based information in the field of forest inventory has become increasingly required. We evaluated the stem curves of the lower part of standing trees (diameters at heights of 0.3 m to 8 m). The experimental data were acquired from three point cloud datasets, which were created through different approaches to three-dimensional (3D) environment modeling (varying in terms of data acquisition and processing time, acquisition costs, and processing complexity): terrestrial laser scanning (TLS), close-range photogrammetry (CRP), and handheld mobile laser scanning (HMLS) with a simultaneous localization and mapping algorithm (SLAM). Diameter estimation errors varied across heights of cross sections and methods. The average root mean squared error (RMSE) of all cross sections for the specific methods was 1.03 cm (TLS), 1.26 cm (HMLS), and 1.90 cm (CRP). TLS and CRP reached the lowest RMSE at a height of 1.3 m, while for HMLS, it was at the height of 8 m. Our findings demonstrated that the accuracy of measurements of the standing tree stem curve was comparable for the usability of all three devices in forestry practices.

Analysis of the Selection Impact of 2D Detectors on the Accuracy of Image-Based TLS Data Registration of Objects of Cultural Heritage and Interiors of Public Utilities

The aim of this article is to present the influence of detector selection for the image-based Terrestrial Laser Scanning (TLS) registration method. The presented results are the extended continuation of investigations presented in the article, 'The Influence of the Cartographic Transformation of TLS Data on the Quality of the Automatic Registration'. In order to obtain the correct results of the TLS registration process, it is necessary to detect and match the correct tie points, which are evenly distributed across the entire area. Commonly, for TLS data registration manually or semi-manually corresponding points are detected. However, when large, complicated cultural heritage objects are investigated, it is sometimes impossible to place marked control points. The only possibility of resolving this problem is the use of image-based TLS data registration. One of the most important factors that influences the quality and ability to use it correctly, is accurate selection. For this purpose, the authors decided to test three blob detectors ASIFT, SURF, CenSurE, and two point detectors FAST and BRISK. The results indicated that selection depends on two factors: if the time required for data processing is not important, the ASIFT algorithm should be used, which allows for full registration, but if not, a combination of other algorithms with results supervision should be considered.

Enhancing Methods for Under-Canopy Unmanned Aircraft System Based Photogrammetry in Complex Forests for Tree Diameter Measurement

The application of Unmanned Aircraft Systems (UAS) beneath the forest canopy provides a potentially valuable alternative to ground-based measurement techniques in areas of dense canopy cover and undergrowth. This research presents results from a study of a consumer-grade UAS flown under the forest canopy in challenging forest and terrain conditions. This UAS was deployed to assess under-canopy UAS photogrammetry as an alternative to field measurements for obtaining stem diameters as well as ultra-high-resolution (~400,000 points/m2) 3D models of forest study sites. There were 378 tape-based diameter measurements collected from 99 stems in a native, unmanaged eucalyptus pulchella forest with mixed understory conditions and steep terrain. These measurements were used as a baseline to evaluate the accuracy of diameter measurements from under-canopy UAS-based photogrammetric point clouds. The diameter measurement accuracy was evaluated without the influence of a digital terrain model using an innovative tape-based method. A practical and detailed methodology is presented for the creation of these point clouds. Lastly, a metric called the Circumferential Completeness Index (CCI) was defined to address the absence of a clearly defined measure of point coverage when measuring stem diameters from forest point clouds. The measurement of the mean CCI is suggested for use in future studies to enable a consistent comparison of the coverage of forest point clouds using different sensors, point densities, trajectories, and methodologies. It was found that root-mean-squared-errors of diameter measurements were 0.011 m in Site 1 and 0.021 m in the more challenging Site 2. The point clouds in this study had a mean validated CCI of 0.78 for Site 1 and 0.7 for Site 2, with a mean unvalidated CCI of 0.86 for Site 1 and 0.89 for Site 2. The results in this study demonstrate that under-canopy UAS photogrammetry shows promise in becoming a practical alternative to traditional field measurements, however, these results are currently reliant upon the operator’s knowledge of photogrammetry and his/her ability to fly manually in object-rich environments. Future work should pursue solutions to autonomous operation, more complete point clouds, and a method for providing scale to point clouds when global navigation satellite systems are unavailable.

The Quality Assessment of Different Geolocalisation Methods for a Sensor System to Monitor Structural Health of Monumental Objects

Cultural heritage objects are affected by a wide range of factors causing their deterioration and decay over time such as ground deformations, changes in hydrographic conditions, vibrations or excess of moisture, which can cause scratches and cracks formation in the case of historic buildings. The electromagnetic spectroscopy has been widely used for non-destructive structural health monitoring of concrete structures. However, the limitation of this technology is a lack of geolocalisation in the space for multispectral architectural documentation. The aim of this study is to examine different geolocalisation methods in order to determine the position of the sensor system, which will then allow to georeference the results of measurements performed by this device and apply corrections to the sensor response, which is a crucial element required for further data processing related to the object structure and its features. The classical surveying, terrestrial laser scanning (TLS), and Structure-from-Motion (SfM) photogrammetry methods were used in this investigation at three test sites. The methods were reviewed and investigated. The results indicated that TLS technique should be applied for simple structures and plain textures, while the SfM technique should be used for marble-based and other translucent or semi-translucent structures in order to achieve the highest accuracy for geolocalisation of the proposed sensor system.

Forest Inventory with Long Range and High-Speed Personal Laser Scanning (PLS) and Simultaneous Localization and Mapping (SLAM) Technology

The use of new and modern sensors in forest inventory has become increasingly efficient. Nevertheless, the majority of forest inventory data are still collected manually, as part of field surveys. The reason for this is the sometimes time-consuming and incomplete data acquisition with static terrestrial laser scanning (TLS). The use of personal laser scanning (PLS) can reduce these disadvantages. In this study, we assess a new personal laser scanner and compare it with a TLS approach for the estimation of tree position and diameter in a wide range of forest types and structures. Traditionally collected forest inventory data are used as reference. A new density-based algorithm for position finding and diameter estimation is developed. In addition, several methods for diameter fitting are compared. For circular sample plots with a maximum radius of 20 m and lower diameter at breast height (dbh) threshold of 5 cm, tree mapping showed a detection of 96% for PLS and 78.5% for TLS. Using plot radii of 20 m, 15 m, and 10 m, as well as a lower dbh threshold of 10 cm, the respective detection rates for PLS were 98.76%, 98.95%, and 99.48%, while those for TLS were considerably lower (86.32%, 93.81%, and 98.35%, respectively), especially for larger sample plots. The root mean square error (RMSE) of the best dbh measurement was 2.32 cm (12.01%) for PLS and 2.55 cm (13.19%) for TLS. The highest precision of PLS and TLS, in terms of bias, were 0.21 cm (1.09%) and −0.74 cm (−3.83%), respectively. The data acquisition time for PLS took approximately 10.96 min per sample plot, 4.7 times faster than that for TLS. We conclude that the proposed PLS method is capable of efficient data capture and can detect the largest number of trees with a sufficient dbh accuracy.

Automatic Tree Detection from Three-Dimensional Images Reconstructed from 360° Spherical Camera Using YOLO v2

It is important to grasp the number and location of trees, and measure tree structure attributes, such as tree trunk diameter and height. The accurate measurement of these parameters will lead to efficient forest resource utilization, maintenance of trees in urban cities, and feasible afforestation planning in the future. Recently, light detection and ranging (LiDAR) has been receiving considerable attention, compared with conventional manual measurement techniques. However, it is difficult to use LiDAR for widespread applications, mainly because of the costs. We propose a method for tree measurement using 360° spherical cameras, which takes omnidirectional images. For the structural measurement, the three-dimensional (3D) images were reconstructed using a photogrammetric approach called structure from motion. Moreover, an automatic tree detection method from the 3D images was presented. First, the trees included in the 360° spherical images were detected using YOLO v2. Then, these trees were detected with the tree information obtained from the 3D images reconstructed using structure from motion algorithm. As a result, the trunk diameter and height could be accurately estimated from the 3D images. The tree detection model had an F-measure value of 0.94. This method could automatically estimate some of the structural parameters of trees and contribute to more efficient tree measurement.

Metrics of Growth Habit Derived from the 3D Tree Point Cloud Used for Species Determination—A New Approach in Botanical Taxonomy Tested on Dragon Tree Group Example

Detailed, three-dimensional modeling of trees is a new approach in botanical taxonomy. Representations of individual trees are a prerequisite for accurate assessments of tree growth and morphological metronomy. This study tests the abilities of 3D modeling of trees to determine the various metrics of growth habit and compare morphological differences. The study included four species of the genus Dracaena: D. draco, D. cinnabari, D. ombet, and D. serrulata. Forty-nine 3D tree point clouds were created, and their morphological metrics were derived and compared. Our results indicate the possible application of 3D tree point clouds to dendrological taxonomy. Basic metrics of growth habit and coefficients derived from the 3D point clouds developed in the present study enable the statistical evaluation of differences among dragon tree species.

Image Data Acquisition for Estimating Individual Trees Metrics: Closer Is Better

Background and Objectives: The recent use of Structure-from-Motion with Multi-View Stereo photogrammetry (SfM-MVS) in forestry has underscored its robustness in tree mensuration. This study evaluated the differences in tree metrics resulting from various related SfM-MVS photogrammetric image acquisition scenarios. Materials and Methods: Scaled tri-dimensional models of 30 savanna trees belonging to five species were built from photographs acquired in a factorial design with shooting distance (d = 1, 2, 3, 4 and 5 m away from tree) and angular shift (α = 15°, 30°, 45° and 60°; nested in d). Tree stem circumference at 1.3 m and bole volume were estimated using models resulting from each of the 20 scenarios/tree. Mean absolute percent error (MAPE) was computed for both metrics in order to compare the performance of each scenario in relation to reference data collected using a measuring tape. Results: An assessment of the effect of species identity (s), shooting distance and angular shift showed that photographic point cloud density was dependent on α and s, and optimal for 15° and 30°. MAPEs calculated on stem circumferences and volumes significantly differed with d and α, respectively. There was a significant interaction between α and s for both circumference and volume MAPEs, which varied widely (1.6 ± 0.4%–20.8 ± 23.7% and 2.0 ± 0.6%–36.5 ± 48.7% respectively), and were consistently lower for smaller values of d and α. Conclusion: The accuracy of photogrammetric estimation of individual tree attributes depended on image-capture approach. Acquiring images 2 m away and with 30° intervals around trees produced reliable estimates of stem circumference and bole volume. Research Highlights: This study indicates that the accuracy of photogrammetric estimations of individual tree attributes is species-dependent. Camera positions in relation to the subject substantially influence the level of uncertainty in measurements.

Canopy Roughness: A New Phenotypic Trait to Estimate Aboveground Biomass from Unmanned Aerial System

Cost-effective phenotyping methods are urgently needed to advance crop genetics in order to meet the food, fuel, and fiber demands of the coming decades. Concretely, characterizing plot level traits in fields is of particular interest. Recent developments in high-resolution imaging sensors for UAS (unmanned aerial systems) focused on collecting detailed phenotypic measurements are a potential solution. We introduce canopy roughness as a new plant plot-level trait. We tested its usability with soybean by optical data collected from UAS to estimate biomass. We validate canopy roughness on a panel of 108 soybean [Glycine max (L.) Merr.] recombinant inbred lines in a multienvironment trial during the R2 growth stage. A senseFly eBee UAS platform obtained aerial images with a senseFly S.O.D.A. compact digital camera. Using a structure from motion (SfM) technique, we reconstructed 3D point clouds of the soybean experiment. A novel pipeline for feature extraction was developed to compute canopy roughness from point clouds. We used regression analysis to correlate canopy roughness with field-measured aboveground biomass (AGB) with a leave-one-out cross-validation. Overall, our models achieved a coefficient of determination (R ²) greater than 0.5 in all trials. Moreover, we found that canopy roughness has the ability to discern AGB variations among different genotypes. Our test trials demonstrate the potential of canopy roughness as a reliable trait for high-throughput phenotyping to estimate AGB. As such, canopy roughness provides practical information to breeders in order to select phenotypes on the basis of UAS data.

Forest structure parameter extraction using SPOT-7 satellite data by object- and pixel-based classification methods

Using satellite data to extract forest structure mapping parameters assists forest management. In this research, structural parameters including species, density, canopy, and gaps were extracted from SPOT-7 satellite data over Hyrcanian forests (Iran). A detailed ground inventory was initially conducted, over 12 × 1 ha (100 m × 100 m) plots, in which tree coordinates were plotted, using a differential global positioning system (DGPS), along with data on tree species, diameter-at-breast-height and height, as well as canopy dimensions, and canopy gap shapes, sizes, and positions, for each plot. Then, spectral transformations, vegetation indices, and simple spectral ratios were extracted from SPOT-7 data, and a supervised, pixel-based classification method and a support-vector machine algorithm were used to classify and determine tree species types. In addition, canopy tree borders and gaps were classified, using an object-based method, and tree densities per unit area were determined, using the canopy gravity center. Finally, the original ground data was used to perform an accuracy assessment on the extracted information, with the results showing that forest type could be determined with 95% accuracy and a Kappa coefficient of 0.8. Canopy and gap coverage achieved an overall accuracy of 91% (Kappa coefficient: 0.7), and tree densities per hectare were determined, on average, to be 47 trees fewer than reality. In conclusion, we have shown that forest structural parameters could be extracted, with good accuracy, using a combination of pixel- and object-based methods applied to SPOT-7 imaging.