Mapping hard-to-access and hazardous parts of forests by terrestrial surveying methods is a challenging task. Remote sensing techniques can provide an alternative solution to such cases. Unmanned aerial vehicles (UAVs) can provide on-demand data and higher flexibility in comparison to other remote sensing techniques. However, traditional georeferencing of imagery acquired by UAVs involves the use of ground control points (GCPs), thus negating the benefits of rapid and efficient mapping in remote areas. The aim of this study was to evaluate the accuracy of RTK/PPK (real-time kinematic, post-processed kinematic) solution used with a UAV to acquire camera positions through post-processed and corrected measurements by global navigation satellite systems (GNSS). To compare this solution with approaches involving GCPs, the accuracies of two GCP setup designs (4 GCPs and 9 GCPs) were evaluated. Additional factors, which can significantly influence accuracies were also introduced and evaluated: type of photogrammetric product (point cloud, orthoimages and DEM) vegetation leaf-off and leaf-on seasonal variation and flight patterns (evaluated individually and as a combination). The most accurate results for both horizontal (X and Y dimensions) and vertical (Z dimension) accuracies were acquired by the UAV RTK/PPK technology with RMSEs of 0.026 m, 0.035 m and 0.082 m, respectively. The PPK horizontal accuracy was significantly higher when compared to the 4GCP and 9GCP georeferencing approach (p < 0.05). The PPK vertical accuracy was significantly higher than 4 GCP approach accuracy, while PPK and 9 GCP approach vertical accuracies did not differ significantly (p = 0.96). Furthermore, the UAV RTK/PPK accuracy was not influenced by vegetation seasonal variation, whereas the GCP georeferencing approaches during the vegetation leaf-off season had lower accuracy. The use of the combined flight pattern resulted in higher horizontal accuracy; the influence on vertical accuracy was insignificant. Overall, the RTK/PPK technology in combination with UAVs is a feasible and appropriately accurate solution for various mapping tasks in forests.

The measurements of tree attributes required for forest monitoring and management planning, e.g., National Forest Inventories, are derived by rather time-consuming field measurements on sample plots, using calipers and measurement tapes. Therefore, forest managers and researchers are looking for alternative methods. Currently, terrestrial laser scanning (TLS) is the remote sensing method that provides the most accurate point clouds at the plot-level to derive these attributes from. However, the demand for even more efficient and effective solutions triggers further developments to lower the acquisition time, costs, and the expertise needed to acquire and process 3D point clouds, while maintaining the quality of extracted tree parameters. In this context, photogrammetry is considered a potential solution. Despite a variety of studies, much uncertainty still exists about the quality of photogrammetry-based methods for deriving plot-level forest attributes in natural forests. Therefore, the overall goal of this study is to evaluate the competitiveness of terrestrial photogrammetry based on structure from motion (SfM) and dense image matching for deriving tree positions, diameters at breast height (DBHs), and stem curves of forest plots by means of a consumer grade camera. We define an image capture method and we assess the accuracy of the photogrammetric results on four forest plots located in Austria and Slovakia, two in each country, selected to cover a wide range of conditions such as terrain slope, undergrowth vegetation, and tree density, age, and species. For each forest plot, the reference data of the forest parameters were obtained by conducting field surveys and TLS measurements almost simultaneously with the photogrammetric acquisitions. The TLS data were also used to estimate the accuracy of the photogrammetric ground height, which is a necessary product to derive DBHs and tree heights. For each plot, we automatically derived tree counts, tree positions, DBHs, and part of the stem curve from both TLS and SfM using a software developed at TU Wien (Forest Analysis and Inventory Tool, FAIT), and the results were compared. The images were oriented with errors of a few millimetres only, according to checkpoint residuals. The automatic tree detection rate for the SfM reconstruction ranges between 65% and 98%, where the missing trees have average DBHs of less than 12 cm. For each plot, the mean error of SfM and TLS DBH estimates is −1.13 cm and −0.77 cm with respect to the caliper measurements. The resulting stem curves show that the mean differences between SfM and TLS stem diameters is at maximum −2.45 cm up to 3 m above ground, which increases to almost +4 cm for higher elevations. This study shows that with the adopted image capture method, terrestrial SfM photogrammetry, is an accurate solution to support forest inventory for estimating the number of trees and their location, the DBHs and stem curve up to 3 m above ground.

Three-dimensional light detection and ranging (LiDAR) point clouds acquired from unmanned aerial vehicles (UAVs) represent a relatively new type of remotely sensed data. Point cloud density of thousands of points per square meter with survey-grade accuracy makes the UAV laser scanning (ULS) a very suitable tool for detailed mapping of forest environment. We used RIEGL VUX-SYS to scan forest stands of Norway spruce and Scots pine, the two most important economic species of central European forests, and evaluated the suitability of point clouds for individual tree stem detection and stem diameter estimation in a fully automated workflow. We segmented tree stems based on point densities in voxels in subcanopy space and applied three methods of robust circle fitting to fit cross-sections along the stems: (1) Hough transform; (2) random sample consensus (RANSAC); and (3) robust least trimmed squares (RLTS). We detected correctly 99% and 100% of all trees in research plots for spruce and pine, respectively, and were able to estimate diameters for 99% of spruces and 98% of pines with mean bias error of −0.1 cm (−1%) and RMSE of 6.0 cm (19%), using the best performing method, RTLS. Hough transform was not able to fit perimeters in unfiltered and often incomplete point representations of cross-sections. In general, RLTS performed slightly better than RANSAC, having both higher stem detection success rate and lower error in diameter estimation. Better performance of RLTS was more pronounced in complicated situations, such as incomplete and noisy point structures, while for high-quality point representations, RANSAC provided slightly better results.

In this article we introduce a new method for forest management inventories especially suitable for highly-valued timber where the precise estimation of stem parameters (diameter, form, and tapper) plays the key role for market purposes. The unmanned aerial system (UAS)-based photogrammetry is combined with terrestrial photogrammetry executed by walking inside the stand and the individual tree parameters are estimated. We compare two automatic methods for processing of the point clouds and the delineation of stem circumference at breast height. The error of the diameter estimation was observed to be under 1 cm root mean square error (RMSE) and the height estimation error was 1 m. Apart from the mentioned accuracy, the main advantage of the proposed work is shorter time demand for field measurement; we could complete both inventories of 1 hectare forest stand in less than 2 h of field work.

The bark beetle (Ips typographus) disturbance represents serious environmental and economic issue and presents a major challenge for forest management. A timely detection of bark beetle infestation is therefore necessary to reduce losses. Besides wood production, a bark beetle outbreak affects the forest ecosystem in many other ways including the water cycle, nutrient cycle, or carbon fixation. On that account, (not just) European temperate coniferous forests may become endangered ecosystems. Our study was performed in the unmanaged zone of the Krkonoše Mountains National Park in the northern part of the Czech Republic where the natural spreading of bark beetle is slow and, therefore, allow us to continuously monitor the infested trees that are, in contrast to managed forests, not being removed. The aim of this work is to evaluate possibilities of unmanned aerial vehicle (UAV)-mounted low-cost RGB and modified near-infrared sensors for detection of different stages of infested trees at the individual level, using a retrospective time series for recognition of still green but already infested trees (so-called green attack). A mosaic was created from the UAV imagery, radiometrically calibrated for surface reflectance, and five vegetation indices were calculated; the reference data about the stage of bark beetle infestation was obtained through a combination of field survey and visual interpretation of an orthomosaic. The differences of vegetation indices between infested and healthy trees over four time points were statistically evaluated and classified using the Maximum Likelihood classifier. Achieved results confirm our assumptions that it is possible to use a low-cost UAV-based sensor for detection of various stages of bark beetle infestation across seasons; with increasing time after infection, distinguishing infested trees from healthy ones grows easier. The best performance was achieved by the Greenness Index with overall accuracy of 78%–96% across the time periods. The performance of the indices based on near-infrared band was lower.

The potential of close-range photogrammetry (CRP) to compete with terrestrial laser scanning (TLS) to produce dense and accurate point clouds has increased in recent years. The use of CRP for estimating tree diameter at breast height (DBH) has multiple advantages over TLS. For example, point clouds from CRP are similar to TLS, but hardware costs are significantly lower. However, a number of data collection issues need to be clarified before the use of CRP in forested areas is considered effective. In this paper we focused on different CRP data collection methods to estimate DBH. We present seven methods that differ in camera orientation, shooting mode, data collection path, and other important factors. The methods were tested on a research plot comprised of European beeches (Fagus sylvatica L.). The circle-fitting algorithm was used to estimate DBH. Four of the seven methods were capable of producing a dense point cloud. The tree detection rate varied from 49% to 81%. Estimates of DBH produced a root mean square error that varied from 4.41 cm to 5.98 cm. The most accurate method was achieved using a vertical camera orientation, stop-and-go shooting mode, and a path leading around the plot with two diagonal paths through the plot. This method also had the highest rate of tree detection (81%).