Accurate forest parameters are essential for forest inventory. Traditionally, parameters such as diameter at breast height (DBH) and total height are measured in the field by level gauges and hypsometers. However, field inventories are usually based on sample plots, which, despite providing valuable and necessary information, are laborious, expensive, and spatially limited. Most of the work developed for remote measurement of DBH has used terrestrial laser scanning (TLS), which has high density point clouds, being an advantage for the accurate forest inventory. However, TLS still has a spatial limitation to application because it needs to be manually carried to reach the area of interest, requires sometimes challenging field access, and often requires a field team. UAV-borne (unmanned aerial vehicle) lidar has great potential to measure DBH as it provides much higher density point cloud data as compared to aircraft-borne systems. Here, we explore the potential of a UAV-lidar system (GatorEye) to measure individual-tree DBH and total height using an automatic approach in an integrated crop-livestock-forest system with seminal forest plantations of Eucalyptus benthamii. A total of 63 trees were georeferenced and had their DBH and total height measured in the field. In the high-density (>1400 points per meter squared) UAV-lidar point cloud, we applied algorithms (usually used for TLS) for individual tree detection and direct measurement of tree height and DBH. The correlation coefficients (r) between the field-observed and UAV lidar-derived measurements were 0.77 and 0.91 for DBH and total tree height, respectively. The corresponding root mean square errors (RMSE) were 11.3% and 7.9%, respectively. UAV-lidar systems have the potential for measuring relatively broad-scale (thousands of hectares) forest plantations, reducing field effort, and providing an important tool to aid decision making for efficient forest management. We recommend that this potential be explored in other tree plantations and forest environments.

The recent developments of new deep learning architectures create opportunities to accurately classify high-resolution unoccupied aerial system (UAS) images of natural coastal systems and mandate continuous evaluation of algorithm performance. We evaluated the performance of the U-Net and DeepLabv3 deep convolutional network architectures and two traditional machine learning techniques (support vector machine (SVM) and random forest (RF)) applied to seventeen coastal land cover types in west Florida using UAS multispectral aerial imagery and canopy height models (CHM). Twelve combinations of spectral bands and CHMs were used. Our results using the spectral bands showed that the U-Net (83.80–85.27% overall accuracy) and the DeepLabV3 (75.20–83.50% overall accuracy) deep learning techniques outperformed the SVM (60.50–71.10% overall accuracy) and the RF (57.40–71.0%) machine learning algorithms. The addition of the CHM to the spectral bands slightly increased the overall accuracy as a whole in the deep learning models, while the addition of a CHM notably improved the SVM and RF results. Similarly, using bands outside the three spectral bands, namely, near-infrared and red edge, increased the performance of the machine learning classifiers but had minimal impact on the deep learning classification results. The difference in the overall accuracies produced by using UAS-based lidar and SfM point clouds, as supplementary geometrical information, in the classification process was minimal across all classification techniques. Our results highlight the advantage of using deep learning networks to classify high-resolution UAS images in highly diverse coastal landscapes. We also found that low-cost, three-visible-band imagery produces results comparable to multispectral imagery that do not risk a significant reduction in classification accuracy when adopting deep learning models.

This study evaluates the skills of two types of drone-based point clouds, derived from LiDAR and photogrammetric techniques, in estimating ground elevation, vegetation height, and vegetation density on a highly vegetated salt marsh. The proposed formulation is calibrated and tested using data measured on a Spartina alterniflora-dominated salt marsh in Little Sapelo Island, USA. The method produces high-resolution (ground sampling distance = 0.40 m) maps of ground elevation and vegetation characteristics and captures the large gradients in the proximity of tidal creeks. Our results show that LiDAR-based techniques provide more accurate reconstructions of marsh vegetation (height: MAE_VH = 12.6 cm and RMSE_VH = 17.5 cm; density: MAE_VD = 6.9 stems m⁻² and RMSE_VD = 9.4 stems m⁻²) and morphology (MAE_M = 4.2 cm; RMSE_M = 5.9 cm) than Digital Aerial Photogrammetry (DAP) (MAE_VH = 31.1 cm; RMSE_VH = 38.1 cm; MAE_VD = 12.7 stems m⁻²; RMSE_VD = 16.6 stems m⁻²; MAE_M = 11.3 cm; RMSE_M = 17.2 cm). The accuracy of the classification procedure for vegetation calculation negligibly improves when RGB images are used as input parameters together with the LiDAR-UAV point cloud (MAE_VH = 6.9 cm; RMSE_VH = 9.4 cm; MAE_VD = 10.0 stems m⁻²; RMSE_VD = 14.0 stems m⁻²). However, it improves when used together with the DAP-UAV point cloud (MAE_VH = 21.7 cm; RMSE_VH = 25.8 cm; MAE_VD = 15.2 stems m⁻²; RMSE_VD = 18.7 stems m⁻²). Thus, we discourage using DAP-UAV-derived point clouds for high-resolution vegetation mapping of coastal areas, if not coupled with other data sources.

Modern lidar sensors are continuing to decrease in size, weight, and cost, but the demand for fast, abundant, and high-accuracy lidar observations is only increasing. The Livox Mid-40 lidar sensor was designed for use within sense-and-avoid navigation systems for autonomous vehicles, but has also found adoption within aerial mapping systems. In order to characterize the overall quality of the point clouds from the Mid-40 sensor and enable sensor calibration, a rigorous model of the sensor’s raw observations is needed. This paper presents the development of an angular observation model for the Mid-40 sensor, and its application within an extended Kalman filter that uses the sensor’s data to estimate the model’s operating parameters, systematic errors, and the instantaneous prism rotation angles for the Risley prism optical steering mechanism. The analysis suggests that the Mid-40’s angular observations are more accurate than the specifications provided by the manufacturer. Additionally, it is shown that the prism rotation angles can be used within a planar constrained least-squares adjustment to theoretically improve the accuracy of the angular observations of the Mid-40 sensor.

Tropical forests are often located in difficult-to-access areas, which make high-quality forest structure information difficult and expensive to obtain by traditional field-based approaches. LiDAR (acronym for Light Detection And Ranging) data have been used throughout the world to produce time-efficient and wall-to-wall structural parameter estimates for monitoring in native and commercial forests. In this study, we compare products and aboveground biomass (AGB) estimations from LiDAR data acquired using an aircraft-borne system in 2015 and data collected by the unmanned aerial vehicle (UAV)-based GatorEye Unmanned Flying Laboratory in 2017 for ten forest inventory plots located in the Chico Mendes Extractive Reserve in Acre state, southwestern Brazilian Amazon. The LiDAR products were similar and comparable among the two platforms and sensors. Principal differences between derived products resulted from the GatorEye system flying lower and slower and having increased returns per second than the aircraft, resulting in a much higher point density overall (11.3 ± 1.8 vs. 381.2 ± 58 pts/m²). Differences in ground point density, however, were much smaller among the systems, due to the larger pulse area and increased number of returns per pulse of the aircraft system, with the GatorEye showing an approximately 50% higher ground point density (0.27 ± 0.09 vs. 0.42 ± 0.09). The LiDAR models produced by both sensors presented similar results for digital elevation models and estimated AGB. Our results validate the ability for UAV-borne LiDAR sensors to accurately quantify AGB in dense high-leaf-area tropical forests in the Amazon. We also highlight new possibilities using the dense point clouds of UAV-borne systems for analyses of detailed crown structure and leaf area density distribution of the forest interior.

Unmanned aircraft systems (UAS) have advanced rapidly enabling low-cost capture of high-resolution images with cameras, from which three-dimensional photogrammetric point clouds can be derived. More recently UAS equipped with laser scanners, or lidar, have been employed to create similar 3D datasets. While airborne lidar (originally from conventional aircraft) has been used effectively in forest systems for many years, the ability to obtain important tree features such as height, diameter at breast height, and crown dimensions is now becoming feasible for individual trees at reasonable costs thanks to UAS lidar. Getting to individual tree resolution is crucial for detailed phenotyping and genetic analyses. This study evaluates the quality of three three-dimensional datasets from three sensors—two cameras of different quality and one lidar sensor—collected over a managed, closed-canopy pine stand with different planting densities. For reference, a ground-based timber cruise of the same pine stand is also collected. This study then conducted three straightforward experiments to determine the quality of the three sensors’ datasets for use in automated forest inventory: manual mensuration of the point clouds to (1) detect trees and (2) measure tree heights, and (3) automated individual tree detection. The results demonstrate that, while both photogrammetric and lidar data are well-suited for single-tree forest inventory, the photogrammetric data from the higher-quality camera is sufficient for individual tree detection and height determination, but that lidar data is best. The automated tree detection algorithm used in the study performed well with the lidar data, detecting 98% of the 2199 trees in the pine stand, but fell short of manual mensuration within the lidar point cloud, where 100% of the trees were detected. The manually-mensurated heights in the lidar dataset correlated with field measurements at r = 0.95 with a bias of −0.25 m, where the photogrammetric datasets were again less accurate and precise.