As a large carbon pool, global forest ecosystems are a critical component of the global carbon cycle. Accurate estimations of global forest aboveground biomass (AGB) can improve the understanding of global carbon dynamics and help to quantify anthropogenic carbon emissions. Light detection and ranging (LiDAR) techniques have been proven that can accurately capture both horizontal and vertical forest structures and increase the accuracy of forest AGB estimation. In this study, we mapped the global forest AGB density at a 1-km resolution through the integration of ground inventory data, optical imagery, Geoscience Laser Altimeter System/Ice, Cloud, and Land Elevation Satellite data, climate surfaces, and topographic data. Over 4000 ground inventory records were collected from published literatures to train the forest AGB estimation model and validate the resulting global forest AGB product. Our wall-to-wall global forest AGB map showed that the global forest AGB density was 210.09 Mg/ha on average, with a standard deviation of 109.31 Mg/ha. At the continental level, Africa (333.34 ± 63.80 Mg/ha) and South America (301.68 ± 67.43 Mg/ha) had higher AGB density. The AGB density in Asia, North America and Europe were 172.28 ± 94.75, 166.48 ± 84.97, and 132.97 ± 50.70 Mg/ha, respectively. The wall-to-wall forest AGB map was evaluated at plot level using independent plot measurements. The adjusted coefficient of determination (R²) and root-mean-square error (RMSE) between our predicted results and the validation plots were 0.56 and 87.53 Mg/ha, respectively. At the ecological zone level, the R² and RMSE between our map and Intergovernmental Panel on Climate Change suggested values were 0.56 and 101.21 Mg/ha, respectively. Moreover, a comprehensive comparison was also conducted between our forest AGB map and other published regional AGB products. Overall, our forest AGB map showed good agreements with these regional AGB products, but some of the regional AGB products tended to underestimate forest AGB density.

Airborne laser scanning (ALS) data is one of the most commonly used data for terrain products generation. Filtering ground points is a prerequisite step for ALS data processing. Traditional filtering methods mainly use handcrafted features or predefined classification rules with pre-processing/post-processing operations to filter ground points iteratively, which is empirical and cumbersome. Deep learning provides a new approach to solve classification and segmentation problems because of its ability to self-learn features, which has been favored in many fields, particularly remote sensing. In this study, we proposed a point-based fully convolutional neural network (PFCN) which directly consumed points with only geometric information and extracted both point-wise and tile-wise features to classify each point. The network was trained with 37449157 points from 14 sites and evaluated on 6 sites in various forested environments. Additionally, the method was compared with five widely used filtering methods and one of the best point-based deep learning methods (PointNet++). Results showed that the PFCN achieved the best results in terms of mean omission error (T1 = 1.10%), total error (Te = 1.73%), and kappa coefficient (93.88%), but ranked second for the root mean square error of the digital terrain model caused by the worst commission error. Additionally, our method was on par with or even better than PointNet++ in accuracy. Moreover, our method consumes one-third of the computational resource and one-seventh of the training time. We believe that PFCN is a simple and flexible method that can be widely applied for ground point filtering.