Simultaneous Localization and Mapping (SLAM) using LiDAR technology can acquire the point cloud below the tree canopy efficiently in real time, and the Unmanned Aerial Vehicle LiDAR (UAV-LiDAR) can derive the point cloud of the tree canopy. By registering them, the complete 3D structural information of the trees can be obtained for the forest inventory. To this end, an improved RANSAC-ICP algorithm for registration of SLAM and UAV-LiDAR point cloud at plot scale is proposed in this study. Firstly, the point cloud features are extracted and transformed into 33-dimensional feature vectors by using the feature descriptor FPFH, and the corresponding point pairs are determined by bidirectional feature matching. Then, the RANSAC algorithm is employed to compute the transformation matrix based on the reduced set of feature points for coarse registration of the point cloud. Finally, the iterative closest point algorithm is used to iterate the transformation matrix to achieve precise registration of the SLAM and UAV-LiDAR point cloud. The proposed algorithm is validated on both coniferous and broadleaf forest datasets, with an average mean absolute distance (MAD) of 11.332 cm for the broadleaf forest dataset and 6.150 cm for the coniferous forest dataset. The experimental results show that the proposed method in this study can be effectively applied to the forest plot scale for the precise alignment of multi-platform point clouds.

Mapping wall-to-wall forest aboveground biomass (AGB) at large scales is critical for understanding global climate change and the carbon cycle. In previous studies, a regression-based method was commonly used to map the spatially continuous distribution of forest AGB with the aid of optical images, which may suffer from the saturation effect. The Global Ecosystem Dynamics Investigation (GEDI) can collect forest vertical structure information with high precision on a global scale. In this study, we proposed a collaborative kriging (co-kriging) interpolation-based method for mapping spatially continuous forest AGB by integrating GEDI and Sentinel-2 data. First, by fusing spectral features from Sentinel-2 images with vertical structure features from GEDI, the optimal estimation model for footprint-level AGB was determined by comparing different machine-learning algorithms. Second, footprint-level predicted AGB was used as the main variable, with rh95 and B12 as covariates, to build a co-kriging guided interpolation model. Finally, the interpolation model was employed to map wall-to-wall forest AGB. The results showed the following: (1) For footprint-level AGB, CatBoost achieved the highest accuracy by fusing features from GEDI and Sentinel-2 data (${\mathrm{R}}^2$ = 0.87, RMSE = 49.56 Mg/ha, rRMSE = 27.06%). (2) The mapping results based on the interpolation method exhibited relatively high accuracy and mitigated the saturation effect in areas with higher forest AGB (${\mathrm{R}}^2$ = 0.69, RMSE = 81.56 Mg/ha, rRMSE = 40.98%, bias = −3.236 Mg/ha). The mapping result demonstrates that the proposed method based on interpolation combined with multi-source data can be a promising solution for monitoring spatially continuous forest AGB.

Vegetation plays a crucial role in terrestrial ecosystems, and the FVC (Fractional Vegetation Coverage) is a key indicator reflecting the growth status of vegetation. The accurate quantification of FVC dynamics and underlying driving factors has become a hot topic. However, the scale effect on FVC changes and driving factors has received less attention in previous studies. In this study, the changes and driving factors of FVC at multiple scales were analyzed to reveal the spatial and temporal change in vegetation in the Henan section of the Yellow River basin. Firstly, based on the pixel dichotomy model, the FVC at different times and spatial scales was calculated using Landsat-8 data. Then, the characteristics of spatial and temporal FVC changes were analyzed using simple linear regression and CV (Coefficient of Variation). Finally, a GD (Geographic Detector) was used to quantitatively analyze the driving factors of FVC at different scales. The results of this study revealed that (1) FVC showed an upward trend at all spatial scales, increasing by an average of 0.55% yr⁻¹ from 2014 to 2022. The areas with an increasing trend in FVC were 10.83% more than those with a decreasing trend. (2) As the spatial scale decreased, the explanatory power of the topography factors (aspect, elevation, and slope) for changes in FVC was gradually strengthened, while the explanatory power of climate factors (evapotranspiration, temperature, and rainfall) and anthropogenic activities (night light) for changes in FVC decreased. (3) The q value of evapotranspiration was always the highest across different scales, peaking notably at a spatial scale of 1000 m ($q$ = 0.48).