This paper presents a new method for constructing quickly and automatically precision tree models from point clouds of the trunk and branches obtained by terrestrial laser scanning. The input of the method is a point cloud of a single tree scanned from multiple positions. The surface of the visible parts of the tree is robustly reconstructed by making a flexible cylinder model of the tree. The thorough quantitative model records also the topological branching structure. In this paper, every major step of the whole model reconstruction process, from the input to the finished model, is presented in detail. The model is constructed by a local approach in which the point cloud is covered with small sets corresponding to connected surface patches in the tree surface. The neighbor-relations and geometrical properties of these cover sets are used to reconstruct the details of the tree and, step by step, the whole tree. The point cloud and the sets are segmented into branches, after which the branches are modeled as collections of cylinders. From the model, the branching structure and size properties, such as volume and branch size distributions, for the whole tree or some of its parts, can be approximated. The approach is validated using both measured and modeled terrestrial laser scanner data from real trees and detailed 3D models. The results show that the method allows an easy extraction of various tree attributes from terrestrial or mobile laser scanning point clouds.

The objective of the “Tree Extraction” project organized by EuroSDR (European Spatial data Research) and ISPRS (International Society of Photogrammetry and Remote Sensing) was to evaluate the quality, accuracy, and feasibility of automatic tree extraction methods, mainly based on laser scanner data. In the final report of the project, Kaartinen and Hyyppä (2008) reported a high variation in the quality of the published methods under boreal forest conditions and with varying laser point densities. This paper summarizes the findings beyond the final report after analyzing the results obtained in different tree height classes. Omission/Commission statistics as well as neighborhood relations are taken into account. Additionally, four automatic tree detection and extraction techniques were added to the test. Several methods in this experiment were superior to manual processing in the dominant, co-dominant and suppressed tree storeys. In general, as expected, the taller the tree, the better the location accuracy. The accuracy of tree height, after removing gross errors, was better than 0.5 m in all tree height classes with the best methods investigated in this experiment. For forest inventory, minimum curvature-based tree detection accompanied by point cloud-based cluster detection for suppressed trees is a solution that deserves attention in the future.

Accurate road environment information is needed in applications such as road maintenance and virtual 3D city modelling. Vehicle-based laser scanning (VLS) can produce dense point clouds from large areas efficiently from which the road and its environment can be modelled in detail. Pole-like objects such as traffic signs, lamp posts and tree trunks are an important part of road environments. An automatic method was developed for the extraction of pole-like objects from VLS data. The method was able to find 77.7% of the poles which were found by a manual investigation of the data. Correctness of the detection was 81.0%.

Accurate terrain models are a crucial component of studies of river channel evolution. In this paper we describe a new methodology for creating high-resolution seamless digital terrain models (DTM) of river channels and their floodplains. We combine mobile laser scanning and low-altitude unmanned aerial vehicle (UAV) photography-based methods for creating both a digital bathymetric model of the inundated river channel and a DTM of a point bar of a meandering sub-arctic river. We evaluate mobile laser scanning and UAV-based photogrammetry point clouds against terrestrial laser scanning and combine these data with an optical bathymetric model to create a seamless DTM of two different measurement periods. Using this multi-temporal seamless data, we calculate a DTM of difference that allows a change detection of the meander bend over a one-year period.

Mobile laser scanning is an emerging technology capable of capturing three-dimensional data from surrounding objects. With state-of-the-art sensors, the achieved point clouds capture object details with good accuracy and precision. Many of the applications involve civil engineering in urban areas, as well as traffic and other urban planning, all of which serve to make 3D city modeling probably the fastest growing market segment in this field. This article outlines multiplatform mobile laser scanning solutions such as vehicle- and trolley-operated urban area data acquisition, and boat-mounted equipment for fluvial environments. Moreover, we introduce a novel backpack version of mobile laser scanning equipment for surveying applications in the field of natural sciences where the requirements include precision and mobility in variable terrain conditions. In addition to presenting a technical description of the systems, we discuss the performance of the solutions in the light of various applications in the fields of urban mapping and modeling, fluvial geomorphology, snow-cover characterization, precision agriculture, and in monitoring the effects of climate change on permafrost landforms. The data performance of the mobile laser scanning approach is described by the results of an evaluation of the ROAMER on a permanent MLS test field. Furthermore, an in situ accuracy assessment using a field of spherical 3D targets for the newly-introduced Akhka backpack system is conducted and reported on.

We present two improvements for laser-based forest inventory. The first improvement is based on using last pulse data for tree detection. When trees overlap, the surface model between the trees corresponding to the first pulse stays high, whereas the corresponding model from the last pulse results in a drop in elevation, due to its better penetration between the trees. This drop in elevation can be used for separating trees. In a test carried out in Evo, Southern Finland, we used 292 forests plots consisting of more than 5,500 trees and airborne laser scanning (ALS) data comprised of 12.7 emitted laser pulses per m². With last pulse data, an improvement of 6% for individual tree detection was obtained when compared to using first pulse data. The improvement increased with an increasing number of stems per plot and with decreasing diameter breast height (DBH). The results confirm that there is also substantial information for tree detection in last pulse data. The second improvement is based on the use of individual tree-based features in addition to the statistical point height metrics in area-based prediction of forest variables. The commonly-used ALS point height metrics and individual tree-based features were fused into the non-parametric estimation of forest variables. By using only four individual tree-based features, stem volume estimation improved when compared to the use of statistical point height metrics. For DBH estimation, the point height metrics and individual tree-based features complemented each other. Predictions were validated at plot level.