The emergence of hand-held Personal Laser Scanning (H-PLS) systems in recent years resulted in initial research on the possibility of its application in forest inventory, primarily for the estimation of the main tree attributes (e.g. tree detection, stem position, DBH, tree height, etc.). Research knowledge acquired so far can help to direct further research and eventually include H-PLS into operational forest inventory in the future. The main aims of this review are: - to present the current state of the art for H-PLS systems - briefly describe the fundamental concept and methods for H-PLS application in forest inventory - provide an overview of the results of previous studiesÞ emphasize pros and cons for H-PLS application in forest inventory in relation to conventional field measurements and other similar laser scanning systems - highlight the main issues that should be covered by further H-PLS-based forest inventory studies.

In this paper, results from the analysis of the gimbal impact on the determination of the camera exterior orientation parameters of an Unmanned Aerial Vehicle (UAV) are presented and interpreted. Additionally, a new approach and methodology for testing the influence of gimbals on the exterior orientation parameters of UAV acquired images is presented. The main motive of this study is to examine the possibility of obtaining better geometry and favorable spatial bundles of rays of images in UAV photogrammetric surveying. The subject is a 3-axis brushless gimbal based on a controller board (Storm32). Only two gimbal axes are taken into consideration: roll and pitch axes. Testing was done in a flight simulation, and in indoor and outdoor flight mode, to analyze the Inertial Measurement Unit (IMU) and photogrammetric data. Within these tests the change of the exterior orientation parameters without the use of a gimbal is determined, as well as the potential accuracy of the stabilization with the use of a gimbal. The results show that using a gimbal has huge potential. Significantly, smaller discrepancies between data are noticed when a gimbal is used in flight simulation mode, even four times smaller than in other test modes. In this test the potential accuracy of a low budget gimbal for application in real conditions is determined.

The quality and accuracy of Unmanned Aerial System (UAS) products greatly depend on the methods used to define image orientations before they are used to create 3D point clouds. While most studies were conducted in non- or partially-forested areas, a limited number of studies have evaluated the spatial accuracy of UAS products derived by using different image block orientation methods in forested areas. In this study, three image orientation methods were used and compared: (a) the Indirect Sensor Orientation (InSO) method with five irregularly distributed Ground Control Points (GCPs); (b) the Global Navigation Satellite System supported Sensor Orientation (GNSS-SO) method using non-Post-Processed Kinematic (PPK) single-frequency carrier-phase GNSS data (GNSS-SO₁); and (c) using PPK dual-frequency carrier-phase GNSS data (GNSS-SO₂). The effect of the three methods on the accuracy of plot-level estimates of Lorey’s mean height (H_L) was tested over the mixed, even-aged pedunculate oak forests of Pokupsko basin located in Central Croatia, and validated using field validation across independent sample plots (HV), and leave-one-out cross-validation (LOOCV). The GNSS-SO₂ method produced the H_L estimates of the highest accuracy (RMSE%: HV = 5.18%, LOOCV = 4.06%), followed by the GNSS-SO₁ method (RMSE%: HV = 5.34%, LOOCV = 4.37%), while the lowest accuracy was achieved by the InSO method (RMSE%: HV = 5.55%, LOOCV = 4.84%). The negligible differences in the performances of the regression models suggested that the selected image orientation methods had no considerable effect on the estimation of H_L. The GCPs, as well as the high image overlaps, contributed considerably to the block stability and accuracy of image orientation in the InSO method. Additional slight improvements were achieved by replacing single-frequency GNSS measurements with dual-frequency GNSS measurements and by incorporating PPK into the GNSS-SO₂ method.

Digital terrain models (DTMs) are important for a variety of applications in geosciences as a valuable information source in forest management planning, forest inventory, hydrology, etc. Despite their value, a DTM in a forest area is typically lower quality due to inaccessibility and limited data sources that can be used in the forest environment. In this paper, we assessed the accuracy of close-range remote sensing techniques for DTM data collection. In total, four data sources were examined, i.e., handheld personal laser scanning (PLS_hh, GeoSLAM Horizon), terrestrial laser scanning (TLS, FARO S70), unmanned aerial vehicle (UAV) photogrammetry (UAV_image), and UAV laser scanning (ULS, LS Nano M8). Data were collected within six sample plots located in a lowland pedunculate oak forest. The reference data were of the highest quality available, i.e., total station measurements. After normality and outliers testing, both robust and non-robust statistics were calculated for all close-range remote sensing data sources. The results indicate that close-range remote sensing techniques are capable of achieving higher accuracy (root mean square error < 15 cm; normalized median absolute deviation < 10 cm) than airborne laser scanning (ALS) and digital aerial photogrammetry (DAP) data that are generally understood to be the best data sources for DTM on a large scale.

Development of the technology in the area of the cameras, computers and algorithms for 3D the reconstruction of the objects from the images resulted in the increased popularity of the photogrammetry. Algorithms for the 3D model reconstruction are so advanced that almost anyone can make a 3D model of photographed object. The main goal of this paper is to examine the possibility of obtaining 3D data for the purposes of the close-range photogrammetry applications, based on the open source technologies. All steps of obtaining 3D point cloud are covered in this paper. Special attention is given to the camera calibration, for which two-step process of calibration is used. Both, presented algorithm and accuracy of the point cloud are tested by calculating the spatial difference between referent and produced point clouds. During algorithm testing, robustness and swiftness of obtaining 3D data is noted, and certainly usage of this and similar algorithms has a lot of potential in the real-time application. That is the reason why this research can find its application in the architecture, spatial planning, protection of cultural heritage, forensic, mechanical engineering, traffic management, medicine and other sciences.

Understorey evaluation is essential in wildlife habitat management, biomass storage and wildfire suppression, among other areas. The lack of a standardised methodology in the field measurements, and in their subsequent analysis, forces researchers to look for procedures that effectively extract understorey data to make management decisions corresponding to actual stand conditions. In this sense, when analysing the understorey characteristics from LiDAR data, it is very usual to ask: “what value should we set the understorey height range to?” It is also usual to answer by setting a numeric value on the basis of previous research. Against that background, this research aims to identify the optimal height to canopy base (HCB) filter–LiDAR metric relationship for estimating understorey height (UH) and understorey cover (UC) using LiDAR data in the Pokupsko Basin lowland forest complex (Croatia). First, several HCB values per plot were obtained from field data (measured HCBi—HCBM-i, where i ϵ (minimum, maximum, mean, percentiles)), and then they were modelled based on LiDAR metrics (estimated HCBi—HCBE-i). These thresholds, measured and estimated HCBi per plot, were used as point cloud filters to estimate understorey parameters directly on the point cloud located under the canopy layer. In this way, it was possible to predict the UH with errors (RMSE) between 0.90 and 2.50 m and the UC with errors (RMSE) between 8.8 and 18.6 in cover percentage. Finally, the sensitivity analysis showed the HCB filter (the upper threshold to select the understorey LiDAR points) is the most important factor affecting the UH estimates, while this factor and the LiDAR metric are the most important factors affecting the UC estimates.