The health and stability of trees are essential information for the safety of people and property in urban greenery, parks or along roads. The stability of the trees is linked to root stability but essentially also to trunk decay. Currently used internal tree stem decay assessment methods, such as tomography and penetrometry, are reliable but usually time-consuming and unsuitable for large-scale surveys. Therefore, a new method based on close-range remotely sensed data, specifically close-range photogrammetry and iPhone LiDAR, was tested to detect decayed standing tree trunks automatically. The proposed study used the PointNet deep learning algorithm for 3D data classification. It was verified in three different datasets consisting of pure coniferous trees, pure deciduous trees, and mixed data to eliminate the influence of the detectable symptoms for each group and species itself. The mean achieved validation accuracies of the models were 65.5% for Coniferous trees, 58.4% for Deciduous trees and 57.7% for Mixed data classification. The accuracies indicate promising data, which can be either used by practitioners for preliminary surveys or for other researchers to acquire more input data and create more robust classification models.

The accurate measurement of the tree diameter is vital for forest inventories, urban tree quality assessments, the management of roadside and railway vegetation, and various other applications. It also plays a crucial role in evaluating tree growth dynamics, which are closely linked to tree health, structural stability, and vulnerability. Although a range of devices and methodologies are currently under investigation, the widespread adoption of laser scanners remains constrained by their high cost. This study therefore aimed to compare high-end laser scanners (Trimble TX8 and GeoSLAM ZEB Horizon) with cost-effective alternatives, represented by the Apple iPhone 14 Pro and the LA03 scanner developed by mapry Co., Ltd. (Tamba, Japan). It further sought to evaluate the feasibility of employing these more affordable devices, even for small-scale forest owners or managers. Given the growing availability of 3D-based forest inventory algorithms, a selection of such processing pipelines was used to assess the practical potential of the scanning devices. The tested low-cost device produced moderate results, achieving a tree detection rate of up to 78% and a relative root mean square error (rRMSE) of 19.7% in diameter at breast height (DBH) estimation. However, performance varied depending on the algorithms applied. In contrast, the high-end mobile laser scanning (MLS) and terrestrial laser scanning (TLS) systems outperformed the low-cost alternative across all metrics, with tree detection rates reaching up to 99% and DBH estimation rRMSEs as low as 5%. Nevertheless, the low-cost device may still be suitable for scanning small sample plots at a reduced cost and could potentially be deployed in larger quantities to support broader forest inventory initiatives.

The health and stability of trees are essential information for the safety of people and property in urban greenery, parks or along roads. The stability of the trees is linked to root stability but essentially also to trunk decay. Currently used internal tree stem decay assessment methods, such as tomography or penetrometry, are reliable but usually time-consuming and unsuitable for large-scale surveys. Therefore, a new method based on close-range remote sensed data, specifically close-range photogrammetry and iPhone LiDAR, was tested to detect decayed standing tree trunks automatically. The proposed study used the PointNet deep learning algorithm for 3D data classification. It was verified in three different datasets consisting of pure coniferous trees, pure deciduous trees or mixed data to eliminate the influence of the detectable symptoms for each group and species itself. The mean achieved validation accuracies of the models were 65.5 % for Coniferous trees, 58.4 % for Deciduous trees and 57.7 % for Mixed data classification. The accuracies indicate promising data, which can be either used by practitioners for preliminary surveys or for other researchers to acquire more input data and create more robust classification models.

Accurate measurement of tree architecture is vital for understanding forest dynamics and supporting effective forest management. This study evaluates close-range photogrammetry (CRP) using TreeQSM (v2.4.1) software, reconstructing 3D tree structures in both deciduous and coniferous species and comparing its performance to the Fastrak 3D digitizing method. CRP proved less labor-intensive and effective for estimating parameters like tree height, stem diameter, and volume of thicker branches in small trees. However, it struggled with capturing intricate structures, overestimating volumetric values and underestimating branch lengths and counts. Mean relative root mean square errors for height, diameter at 0.3 m height, volume, and branch count were 34.19%, 69.9%, 107.87%, and 142.03%, respectively. These discrepancies stem from challenges in reconstructing moving objects and filtering non-woody elements. While CRP shows potential as a complementary method, further advancements are necessary to improve 3D tree model reconstruction, emphasizing the need for ongoing research in this domain.

Accurate and efficient assessment of forest structure is crucial for both ecological research and effective forest management. This paper introduces DendRobot, an innovative software pipeline developed to automate the inventory of forest sample plots or entire forest stands using terrestrial LiDAR scans or ground-based photogrammetric point clouds. DendRobot incorporates a novel 2D density-based tree-detection algorithm (Detection Rate = 93%) alongside a new vertical clustering approach for estimating tree height. Both methods are implemented together with established and widely trusted methods to process three-dimensional data into GIS layers. By leveraging these algorithms, DendRobot derives key forest inventory metrics of individual trees, including diameter at breast height (Mean Absolute Error = 3.4 cm), tree height (Mean Absolute Error = 0.7 m), tree locations, and crown projection areas at a fine spatial scale with the resolution of individual trees. Additionally, it produces Digital Terrain Models (DTMs), Digital Surface Models, and Canopy Height Models (CHMs) with user-defined resolution, supporting advanced spatial analyses of forest environments and providing information for forest management planning. Optionally, these data can be enriched with individual-tree point clouds, segmented by a novel approach. Designed as a comprehensive tool for forest researchers, managers, and students, DendRobot supports efficient, data-driven decision-making with minimal manual intervention. Initial tests conducted in complex forest environments demonstrate its capacity to streamline workflows and generate forest-stand-scale inventory data with accuracy comparable to state-of-the-art methods and software. DendRobot (available at https://www.dendrobot.czu.cz/) is a user-friendly, free and open-source solution for the practical application of terrestrial LiDAR scanning in real-world forestry challenges.