The use of mobile laser scanning for mapping forests has scarcely been studied in difficult forest conditions. In this paper, we compare the accuracy of retrieving tree attributes, particularly diameter at breast height (DBH), stem curve, stem volume, and tree height, using six different laser scanning systems in a managed natural boreal forest. These compared systems operated both under the forest canopy on handheld and unmanned aerial vehicle (UAV) platforms and above the canopy from a helicopter. The complexity of the studied forest sites ranged from easy to difficult, and thus, this is the first study to compare the performance of several laser scanning systems for the direct measurement of stem curve in difficult forest conditions. To automatically detect tree stems and to calculate their attributes, we utilized our previously developed algorithm integrated with a novel bias compensation method to reduce the overestimation of stem diameter arising from finite laser beam divergence. The bias compensation method reduced the absolute value of the diameter bias by 55–99%. The most accurate laser scanning systems were equipped with a Velodyne VLP-16 sensor, which has a relatively low beam divergence, on a handheld or UAV platform. In easy plots, these systems found a root-mean-square error (RMSE) of below 10% for DBH and stem curve estimates and approximately 10% for stem volume. With the handheld system in difficult plots, the DBH and stem curve estimates had an RMSE under 10%, and the stem volume RMSE was below 20%. Even though bias compensation reduced the difference in bias and RMSE between laser scanners with high and low beam divergence, the RMSE remained higher for systems with a high beam divergence. The airborne laser scanner operating above the forest canopy provided tree attribute estimates close to the accuracy of the under-canopy laser scanners, but with a significantly lower completeness rate for stem detection, especially in difficult forest conditions.

Automating forest machines to optimize the forest value chain requires the ability to map the surroundings of the machine and to conduct accurate measurements of nearby trees. In the near-to-medium term, integrating a forest harvester with a mobile laser scanner system may have multiple applications, including real-time assistance of the harvester operator using laser-scanner-derived tree measurements and the collection of vast amounts of training data for large-scale airborne laser scanning-based surveys at the individual tree level. In this work, we present a comprehensive processing flow for a mobile laser scanning (MLS) system mounted on a forest harvester starting from the localization of the harvester under the forest canopy followed by accurate and automatic estimation of tree attributes, such as diameter at breast height (DBH) and stem curve. To evaluate our processing flow, we recorded and processed MLS data from a commercial thinning operation on three test strips with a total driven length ranging from 270 to 447 m in a managed Finnish spruce forest stand containing a total of 658 reference trees within a distance of 15 m from the harvester trajectory. Localization reference was obtained by a robotic total station, while reference tree attributes were derived using a high-quality handheld laser scanning system. As some applications of harvester-based MLS require real-time capabilities while others do not, we investigated the positioning accuracy both for real-time localization of the harvester and after the optimization of the full trajectory. In the real-time positioning mode, the absolute localization error was on average 2.44 m, while the corresponding error after the full optimization was 0.21 m. Applying our automatic stem diameter estimation algorithm for the constructed point clouds, we measured DBH and stem curve with a root-mean-square error (RMSE) of 3.2 cm and 3.6 cm, respectively, while detecting approximately 90% of the reference trees with $\mathrm{DBH}>20$ cm that were located within 15 m from the harvester trajectory. To achieve these results, we demonstrated a distance-adjusted bias correction method mitigating diameter estimation errors caused by the high beam divergence of the laser scanner used.

Accurate real-time positioning in forests is challenging due to GNSS signal degradation and an unstructured spatial environment that is difficult to conceptualize through visual sensing. Positioning is vital in any forestry automation application, such as collecting inventory, harvesting, or search and rescue missions. Lidar and inertial based solutions are popular, however they often obtain real-time computation by effectively compressing the number of measurement points to track utilizing regular geometric shapes that do not adapt well to forest. Other solutions sacrifice the high-frequency of positioning estimates or they rely on post-processing. We propose a real-time lidar-inertial SLAM-based approach that utilizes NDT scan registration, factor graphs and loop closure corrections to produce accurate and high-frequency pose estimates. To test our method, data was captured with a lidar and imu sensor mounted on a stick surveying forest sites. Ground truth trajectory for accuracy evaluation was computed by fine registering individual laser scans onto a high-quality reference point cloud recorded from the same forest area using terrestial and airborn laser scanning methods. Experiments shows, that our method can produce real-time position estimates up to 200 Hz within 2–15 cm error.

This paper addresses how to utilize multiple spinning lidar sensors for real-time applications. Especially how to derive back the problem to having only a single lidar input, to which there are countless available algorithms solving odometry, mapping, object detection and tracking and many other tasks. We provide a strategy that can be implemented to most if not all spinning lidars on the market. Instead of traditional data batching that accumulates data packets based on the spinning angle, we propose batching based on the sampling time, which also enable us to ensure strict time alignment within the multiple lidar sources. In order to demonstrate our batching strategy, we provide a case study where we evaluated a SLAM algorithm with a single and a dual-lidar setup. Our batching algorithm enabled us to use the SLAM algorithm that was previously designed for a single spinning lidar without any additional change, while it showcased benefits, especially in stability due to the larger field of view and reduced occlusion.

Integrating existing tree-level information into harvester operator decision-making can significantly enhance precision forest management, particularly with respect to biodiversity preservation and climate-smart adaptation. During harvester operations, a primary challenge lies in positioning the machine with sufficient accuracy in real time to relate a priori individual-tree-level reference information to the operator. We propose a lightweight procedure using tree-to-tree matching to continuously register a real-time tree map collected from a harvester (or another mobile laser scanning system) to a precomputed reference map derived from an airborne laser scanner (ALS). We assess the robustness of the method using simulated tree maps and validate its real-world performance in experiments using a LiDAR-equipped harvester performing a thinning operation in a boreal forest. In simulations, registration was found to be robust up to a moderate tree density of approximately 1700 ha⁻¹, even when using a reference map with a lower positional accuracy and higher error rates than in our harvester experiments. Using real-world data from the thinning operation, the registration method was demonstrated to successfully mitigate meter-scale positioning drifts remaining in the LiDAR-inertial trajectory. After the continuous registration procedure, the positioning error was reduced to the level of 0.5 m, constrained by the accuracy of the prior map derived from sparse ALS data with ∼5 transmissions/m². Importantly, the registration procedure was shown to update in real time (at most 20 ms update time for stands with densities of at most 2000 ha⁻¹, after an initial computational phase. Notable features of the registration procedure are its low memory consumption, fast runtime and capacity to accurately position the harvester despite LiDAR-inertial positioning drift. While these results demonstrate the potential for real-time operation, full implementation requires the development of real-time tree detection and estimation of tree attributes.