Precisely estimating the position, diameter at breast height (DBH), and height of trees is essential in forest resource inventory. Augmented reality (AR)-based devices help overcome the issue of inconsistent global point cloud data under thick forest canopies with insufficient Global Navigation Satellite System (GNSS) coverage. Although monocular simultaneous localization and mapping (SLAM) is one of the current mainstream systems, there is still no monocular SLAM solution for forest resource inventories, particularly for the precise measurement of inclined trees. We developed a forest plot survey system based on monocular SLAM that utilizes array cameras and Inertial Measurement Unit (IMU) sensors provided by smartphones, combined with augmented reality technology, to achieve a real-time estimation of the position, DBH, and height of trees within forest plots. Our results from the tested plots showed that the tree position estimation is unbiased, with an RMSE of 0.12 m and 0.11 m in the x-axis and y-axis directions, respectively; the DBH estimation bias is −0.17 cm (−0.65%), with an RMSE of 0.83 cm (3.59%), while the height estimation bias is −0.1 m (−0.95%), with an RMSE of 0.99 m (5.38%). This study will be useful in designing an algorithm to estimate the DBH and position of inclined trees using point clouds constrained by sectional planes at the breast height of the trunk, developing an algorithm to estimate the height of inclined trees utilizing the relationship between rays and plane positions, and providing observers with visual measurement results using augmented reality technology, allowing them to judge the accuracy of the estimates intuitively. Clearly, this system has significant potential applications in forest resource management and ecological research.

Introduction: Forest spatial structures are the foundations of the structure and function of forest ecosystems. Quantitative descriptions and analyses of forest spatial structure have recently become common tools for digitalized forest management. Therefore, the accuracy and intelligence of acquiring forest spatial structure information are of great significance.Methods: In this study, we developed a forest measurement system using a mobile phone. Through this system, the following tree measurements can be achieved: (1) point cloud of tree and chest diameter circle to measure tree diameter at breast height (DBH) and position coordinates of tree by using simultaneous localization and mapping (SLAM) technology, (2) virtual boundary creation of the sample plot, and the auxiliary measurement function of tree with the augmented reality (AR) interactive module, and (3) position coordinates and single-tree volume factor to calculate the spatial structural parameters of the forest (e.g., Mingling degree, Dominance index, Uniform angle index, and Crowdedness index).The system was tested in three 32 x 32 martificial forest plots.Results: The average DBH estimations showed BIAS of -0.47 to 0.45 cm and RMSEs of 0.57 to 0.95 cm. Its accuracy level met the requirements of forestry sample surveys. The tree position estimates for the three plots had relatively small RMSEs with 0.17 to 0.22 m on the x-axis and 0.16 to 0.26 m on the y-axis. The spatial structural parameters were as follows: the mingling degree of plot 1 was 0.32, and the overall mixing degree of tree species was low. The trees in plots 2 and 3 were all single species, and the mixing degree of both plots was 0. The dominance index of the three plots was 0.56, 0.51, and 0.51, indicating that the competitive advantage of the whole orest species was not obvious. The uniform angle index of the three plots was 0.55, 0.59, and 0.61, indicating that the positions of trees in the three plots were randomly distributed. The crowdedness index of plot 1 was 1.03, indicating that the degree of aggregation of the trees was low and showed a random distribution trend. The crowdedness index of the other plots were 1.36 and 1.40, indicating that the trees in the plots show a trend of uniform distribution, and the uniformity of plot 3 is higher than that of plot 2, but the overall uniformity is relatively weak.Discussion: The findings of this study provide support for the optimization of forest structures and improve our conceptual understanding of forest community succession and restoration, in addition to the informatization and precision of forest spatial structure surveys.

Orbital remote sensing platforms increasingly rely on CNN-based object detection for real-time situational awareness. However, deploying these models on spaceborne edge devices is challenging because of stringent Size, Weight, and Power (SWaP) constraints. In addition, the branch-and-merge topology of conventional single-stage detectors increases on-chip memory usage and introduces pipeline stalls, limiting efficient FPGA implementation. To address these challenges, we proposed RS-YOLO, an object detection algorithm developed through a hardware–software co-design approach. Structural re-parameterization converts heterogeneous branches into a sequential stream of padding-free convolutions, producing a deterministic dataflow and reducing per-state combinational control complexity and data-path multiplexing overhead. To mitigate the high-entropy concentration at the center of the re-parameterized kernels, we further introduce a spatial heterogeneous quantization (SHQ) engine. The SHQ engine assigns 16-bit precision to the central coefficients while preserving vectorized 8-bit computation for peripheral elements, reducing quantization errors for small targets with minimal hardware overhead. Experimental results on the Xilinx Zynq-7020 platform show that the proposed system consumes only 2.24 W while achieving a mean Average Precision (mAP) of 0.887 on the NWPU VHR-10 dataset, representing a 1.4% decrease compared with the FP32 baseline. The system also achieves an energy efficiency of 15.19 GOPS/W, demonstrating an effective balance between hardware efficiency and detection performance for resource-constrained edge platforms such as micro-satellite payloads.

Nitrogen (N) is a key nutrient for sustaining ecosystem productivity and agricultural sustainability; however, achieving high-precision monitoring in wetlands with highly heterogeneous surface types remains challenging. This study focuses on Caohai, a representative karst plateau wetland in China, and integrates Sentinel-2 multispectral and Zhuhai-1 hyperspectral remote sensing data to develop a soil nitrogen inversion model based on spectral indices, texture features, and their integrated combinations. A comparison of four machine learning models (RF, SVM, PLSR, and BPNN) demonstrates that the SVM model, incorporating Zhuhai-1 hyperspectral data with combined spectral and texture features, yields the highest inversion accuracy. Incorporating land-use type as an auxiliary variable further enhanced the stability and generalization capability of the model. The study reveals the spatial enrichment of soil nitrogen content along the wetland margins of Caohai, where remote sensing inversion results show significantly higher nitrogen levels compared to surrounding areas, highlighting the distinctive role of wetland ecosystems in nutrient accumulation. Using Caohai Wetland on the Chinese karst plateau as a case study, this research validates the applicability of integrating spectral and texture features in complex wetland environments and provides a valuable reference for soil nutrient monitoring in similar ecosystems.