Online Tree Reconstruction and Forest Inventory on a Mobile Robotic System
Leonard Frei{\ss}muth, Matias Mattamala, Nived Chebrolu, Simon, Schaefer, Stefan Leutenegger, Maurice Fallon

TL;DR
This paper introduces a real-time, mobile laser scanning system for forest inventory that efficiently reconstructs trees and updates data incrementally, achieving high accuracy comparable to traditional TLS methods without post-processing.
Contribution
The work presents a novel online forest inventory system using mobile laser scanners with incremental data updating and robust tree modeling, reducing processing time and effort.
Findings
Achieves RMSE of 1.93 cm in tree measurements
Operates effectively across different forest types
Eliminates post-processing after data collection
Abstract
Terrestrial laser scanning (TLS) is the standard technique used to create accurate point clouds for digital forest inventories. However, the measurement process is demanding, requiring up to two days per hectare for data collection, significant data storage, as well as resource-heavy post-processing of 3D data. In this work, we present a real-time mapping and analysis system that enables online generation of forest inventories using mobile laser scanners that can be mounted e.g. on mobile robots. Given incrementally created and locally accurate submaps-data payloads-our approach extracts tree candidates using a custom, Voronoi-inspired clustering algorithm. Tree candidates are reconstructed using an adapted Hough algorithm, which enables robust modeling of the tree stem. Further, we explicitly incorporate the incremental nature of the data collection by consistently updating the…
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Taxonomy
TopicsRemote Sensing and LiDAR Applications
