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1.
Measuring tree stem diameters using intensity profiles from ground-based scanning lidar from a fixed viewpoint 总被引：1，自引：0，他引：1
This paper presents a method for using the intensity of returns from a scanning light detection and ranging (lidar) system from a single viewing point to identify the location and measure the diameter of tree stems within a forest. Such instruments are being used for rapid forest inventory and to provide consistent supporting information for airborne lidars. The intensity transect across a tree stem is found to be consistent with a simple model parameterised by the range and diameter of the trunk. The stem diameter is calculated by fitting the model to transect data. The angular span of the stem can also be estimated by using a simple threshold where intensity values are tested against the expected intensity for a stem of given diameter. This is useful when data are insufficient to fit the model or the stem is partially obscured. The process of identifying tree positions and trunk diameters is fully automated and is shown to be successful in identifying a high proportion of trees, including some that are partially obscured from view. The range and bearing to trees are in excellent agreement with field data. Trunk angular span and diameter estimations are well correlated with field measurements at the plot scale. The accuracy of diameter estimation is found to decrease with range from the scanning position and is also reduced for stems subtending small angles (less than twice the scanning resolution) to the instrument. A method for adjusting survey results to compensate for trees missed due to obscuration from the scanning point and the use of angle count methods is found to improve basal area estimates and achieve agreement within 4% of field measurements. 相似文献
2.
《ISPRS Journal of Photogrammetry and Remote Sensing》2007,61(6):355-370
Point cloud acquisition by using laser scanners provides an efficient way for 3D as-built modelling of industrial installations. Covering such an installation with point cloud data often requires data acquisition from multiple standpoints. Before the actual modelling can start the transformation parameters of all scans need to be determined. Two methods to register point clouds of industrial scenes with different coordinate definitions are presented. Corresponding object models in different scans are used to determine the translation and rotation parameters of the scans. The first method, called Indirect method, is a two-step approach as object fitting and registration of the scenes is done separately. The second method, called Direct method simultaneously determines the shape and pose parameters of the objects as well as the registration parameters. Both methods are designed such that optimal use can be made of the knowledge of shapes present in industrial environments. Compared to ICP the presented approach combines registration and modelling and thus avoids the accumulation of errors. Furthermore, the simultaneous registration of multiple scans is possible. The presented approaches are based on non-linear least squares and provide quality measures in the form of covariance matrix of the estimated parameters, which can be used to decide if more scans are needed, and how and where they should be captured. Results are presented on some point cloud data-sets from actual industrial sites, where registration was done without using any artificial targets. 相似文献
3.
Accurate forest biomass mapping methods would provide the means for e.g. detecting bioenergy potential, biofuel and forest-bound carbon. The demand for practical biomass mapping methods at all forest levels is growing worldwide, and viable options are being developed. Airborne laser scanning (ALS) is a promising forest biomass mapping technique, due to its capability of measuring the three-dimensional forest vegetation structure. The objective of the study was to develop new methods for tree-level biomass estimation using metrics derived from ALS point clouds and to compare the results with field references collected using destructive sampling and with existing biomass models. The study area was located in Evo, southern Finland. ALS data was collected in 2009 with pulse density equalling approximately 10 pulses/m2. Linear models were developed for the following tree biomass components: total, stem wood, living branch and total canopy biomass. ALS-derived geometric and statistical point metrics were used as explanatory variables when creating the models. The total and stem biomass root mean square error per cents equalled 26.3% and 28.4% for Scots pine (Pinus sylvestris L.), and 36.8% and 27.6% for Norway spruce (Picea abies (L.) H. Karst.), respectively. The results showed that higher estimation accuracy for all biomass components can be achieved with models created in this study compared to existing allometric biomass models when ALS-derived height and diameter were used as input parameters. Best results were achieved when adding field-measured diameter and height as inputs in the existing biomass models. The only exceptions to this were the canopy and living branch biomass estimations for spruce. The achieved results are encouraging for the use of ALS-derived metrics in biomass mapping and for further development of the models. 相似文献
4.
Terrestrial laser scanning (TLS) has been used to estimate a number of biophysical and structural vegetation parameters. Of these stem diameter is a primary input to traditional forest inventory. While many experimental studies have confirmed the potential for TLS to successfully extract stem diameter, the estimation accuracies differ strongly for these studies – due to differences in experimental design, data processing and test plot characteristics. In order to provide consistency and maximize estimation accuracy, a systematic study into the impact of these variables is required. To contribute to such an approach, 12 scans were acquired with a FARO photon 120 at two test plots (Beech, Douglas fir) to assess the effects of scan mode and circle fitting on the extraction of stem diameter and volume. An automated tree stem detection algorithm based on the range images of single scans was developed and applied to the data. Extraction of stem diameter was achieved by slicing the point cloud and fitting circles to the slices using three different algorithms (Lemen, Pratt and Taubin), resulting in diameter profiles for each detected tree. Diameter at breast height (DBH) was determined using both the single value for the diameter fitted at the nominal breast height and by a linear fit of the stem diameter vertical profile. The latter is intended to reduce the influence of outliers and errors in the ground level determination. TLS-extracted DBH was compared to tape-measured DBH. Results show that tree stems with an unobstructed view to the scanner can be successfully extracted automatically from range images of the TLS data with detection rates of 94% for Beech and 96% for Douglas fir. If occlusion of trees is accounted for stem detection rates decrease to 85% (Beech) and 84% (Douglas fir). As far as the DBH estimation is concerned, both DBH extraction methods yield estimates which agree with reference measurements, however, the linear fit based approach proved to be more robust for the single scan DBH extraction (RMSE range 1.39–1.74 cm compared to 1.47–2.43 cm). With regard to the different circle fit algorithms applied, the algorithm by Lemen showed the best overall performance (RMSE range 1.39–1.65 cm compared to 1.49–2.43 cm). The Lemen algorithm was also found to be more robust in case of noisy data. Compared to the single scans, the DBH extraction from the merged scan data proved to be superior with significant lower RMSE’s (0.66–1.21 cm). The influence of scan mode and circle fitting is reflected in the stem volume estimates, too. Stem volumes extracted from the single scans exhibit a large variability with deviations from the reference volumes ranging from −34% to 44%. By contrast volumes extracted from the merged scans only vary weakly (−2% to 6%) and show a marginal influence of circle fitting. 相似文献
5.
R. Suraj Reddy Chandra Shekhar Jha Krishnan Sundara Rajan 《Journal of the Indian Society of Remote Sensing》2018,46(6):937-943
Forest inventory parameters, primarily tree diameter and height, are required for several management and planning activities. Currently, Terrestrial Laser Scanning (TLS) is a promising technology in automated measurements of tree parameters using dense 3D point clouds. In comparison with conventional manual field inventory methods, TLS systems would supplement field data with detailed and relatively higher degree of accurate measurements and increased measurement frequency. Although, multiple scans from TLS captures more area, they are resource and time consuming to ensure proper co-registration between the scans. On the other hand, Single scans provide a fast and recording of the data but are often affected by occlusions between the trees. The current study evaluates potential of single scan TLS data to (1) develop an automatic method for tree stem identification and diameter estimation (diameter at breast height—DBH) using random sample consensus (RANSAC) based circle fitting algorithm, (2) validate using field based measurements to derive accuracy estimates and (3) assess the influence of distance to scanner on detection and measurement accuracies. Tree detection and diameter measurements were validated for 5 circular plots of 20 m radius using single scans in dry deciduous forests of Betul, Madhya Pradesh. An overall tree detection accuracy of 85 and 70% was observed in the scanner range of 15 and 20 m respectively. The tree detection accuracies decreased with increased distance to the scanner due to the decrease in visible area. Also, estimated stem diameter using TLS was found to be in agreement with the field measured diameter (R2 = 0.97). The RMSE of estimated DBH was found to be 3.5 cm (relative RMSE ~20%) over 202 trees detected over 5 plots. Results suggest that single scan approach suffices the cause of accuracy, reducing uncertainty and adds to increased sampling frequency in forest inventory and also implies that TLS has a seemingly high potential in forest management. 相似文献
6.
迭代最近点算法（ICP）是一种用于点云精确配准的经典算法。针对多幅点云进行ICP配准存在耗时多、效率低的问题,本文利用消息传递接口MPI对多幅点云进行分批并行配准。首先并行求解相邻两幅点云的相邻变换矩阵,然后计算每幅点云在当前批次的局部变换矩阵,最后获得每幅点云的全局变换矩阵。本文以DELL PowerEdge R730服务器为计算平台,对空间点总规模达四千多万的65幅点云进行了分批并行配准。试验结果表明：利用MPI对多幅点云进行分批处理可显著加快配准速度,最优进程数为计算机的核数时,加速比为5.3。 相似文献
7.
Forest plantations are an important source of terrestrial carbon sequestration. The forest of Robinia pseudoacacia in the Yellow River Delta (YRD) is the largest artificial ecological protection forest in China. However, more than half of the forest has appeared different degrees of dieback and even death since the 1990s. Timely and accurate estimation of the forest aboveground biomass (AGB) is a basis for studying the carbon cycle of forests. Light Detecting and Ranging (LiDAR) has been proved to be one of the most powerful methods for forest biomass estimation. However, because of an irregular and overlapping shape of the broadleaved forest canopy in a growing season, it is difficult to segment individual trees and estimate the tree biomass from airborne LiDAR data. In this study, a new method was proposed to solve this problem of individual tree detection in the Robinia pseudoacacia forest based on a combination of the Unmanned Aerial Vehicle-Light Detecting and Ranging (UAV-LiDAR) with the Backpack-LiDAR. The proposed method mainly consists of following steps: (i) at a plot level, trees in the UAV-LiDAR data were detected by seed points obtained by an individual tree segmentation (ITS) method from the Backpack-LiDAR data; (ii) height and diameter at breast height (DBH) of an individual tree would be extracted from UAV and Backpack LiDAR data, respectively; (iii) the individual tree AGB would be calculated through an allometric equation and the forest AGB at the plot level was accumulated; and (iv) the plot-level forest AGB was taken as a dependent variable, and various metrics extracted from UAV-LiDAR point cloud data as independent variables to estimate forest AGB distribution in the study area by using both multiple linear regression (MLR) and random forest (RF) models. The results demonstrate that: (1) the seed points extracted from Backpack-LiDAR could significantly improve the overall accuracy of individual tree detection (F = 0.99), and thus increase the forest AGB estimation accuracy; (2) compared with MLR model, the RF model led to a higher estimation accuracy (p < 0.05); and (3) LiDAR intensity information selected by both MLR and RF models and laser penetration rate (LP) played an important role in estimating healthy forest AGB. 相似文献
8.
Recent research results have shown that the performance of digital surface model extraction using novel high-quality photogrammetric images and image matching is a highly competitive alternative to laser scanning. In this article, we proceed to compare the performance of these two methods in the estimation of plot-level forest variables. Dense point clouds extracted from aerial frame images were used to estimate the plot-level forest variables needed in a forest inventory covering 89 plots. We analyzed images with 60% and 80% forward overlaps and used test plots with off-nadir angles of between 0° and 20°. When compared to reference ground measurements, the airborne laser scanning (ALS) data proved to be the most accurate: it yielded root mean square error (RMSE) values of 6.55% for mean height, 11.42% for mean diameter, and 20.72% for volume. When we applied a forward overlap of 80%, the corresponding results from aerial images were 6.77% for mean height, 12.00% for mean diameter, and 22.62% for volume. A forward overlap of 60% resulted in slightly deteriorated RMSE values of 7.55% for mean height, 12.20% for mean diameter, and 22.77% for volume. According to our results, the use of higher forward overlap produced only slightly better results in the estimation of these forest variables. Additionally, we found that the estimation accuracy was not significantly impacted by the increase in the off-nadir angle. Our results confirmed that digital aerial photographs were about as accurate as ALS in forest resources estimation as long as a terrain model was available. 相似文献
9.
The accuracy of vertical position information can be degraded by various sources of error in digital aerial photogrammetry (DAP) based point clouds. To address this issue, we propose a relatively straightforward method for automated correction of such point clouds. This method can be used in conjunction with any 3D reconstruction method in which a point cloud is generated from a pair of aerial images. The crux of the method involves separately co-registering each DAP point cloud (formed by the overlap of two or more images) to a common airborne laser scanning (ALS) based digital terrain model. The proposed method has the following essential steps: (1) Ground surface patches are identified in the normalized DAP point clouds by selecting areas in which standard deviation of vertical height is low, (2) height differences between the DAP and ALS point clouds are calculated at these patches, and (3) a correction surface is interpolated from these height differences and is then used to rectify the entire DAP point cloud. The performance of the proposed method is verified using plot data (n = 250) from a forested study area in Eastern Finland. We observed that DAP data from the area corrected using our proposed method resulted in significant increases in prediction accuracy of key forest variables. Specifically, the root mean squared error (RMSE) values for dominant height predictions decreased by up to 23.2%, while the associated model R2 values increased by 16.9%. As for stem volume, RMSEs dropped by 20.6%, while the model R2 improved by 14.6%, respectively. Hence, prediction accuracies were almost as good as with ALS data. The results suggest that vertically misaligned DAP data, if rectified using an algorithm such as the one presented here, could deliver near ALS data quality at a fraction of the cost. 相似文献
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11.
This paper proposes an automatic method for registering terrestrial laser scans in terms of robustness and accuracy. The proposed method uses spatial curves as matching primitives to overcome the limitations of registration methods based on points, lines, or patches as primitives. These methods often have difficulty finding correspondences between the scanned point clouds of freeform surfaces (e.g., statues, cultural heritage). The proposed method first clusters visually prominent points selected according to their associated geometric curvatures to extract crest lines which describe the shape characteristics of point clouds. Second, a deformation energy model is proposed to measure the shape similarity of these crest lines to select the correct matching-curve pairs. Based on these pairs, good initial orientation parameters can be obtained, resulting in fine registration. Experiments were undertaken to evaluate the robustness and accuracy of the proposed method, demonstrating a reliable and stable solution for accurately registering complex scenes without good initial alignment. 相似文献
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13.
提出了一种综合利用快速点特征直方图(FPFH)描述符和同名点引导ICP优化的地面激光扫描(TLS)点云配准方法。该方法包括3个步骤:1)点云金字塔构建;2)基于FPFH的粗配准;3)同名点引导的ICP精配准。首先使用体素网格滤波器构造点云的金字塔结构,在粗配准时,FPFH描述符用于金字塔顶层上点云的鲁棒匹配,在此基础上,再进行两层级同名点引导的ICP精配准优化,使用3组典型TLS点云对进行实验,结果表明本文方法可以高效地完成TLS点云的配准。 相似文献
14.
无人机倾斜摄影直接生产的成果通常包括三维模型、TDOM、DSM等,然而规划设计通常不能直接利用倾斜数据输出的DEM,需要辅以人工编辑。作为倾斜摄影影像处理的过程成果,密集匹配点云未得到充分利用。其与激光雷达点云具备相似的结构,且点云密度可自由选择,在不考虑数据量的情况下,密集匹配点云的点密度可数倍于激光雷达点云。此外,密集匹配点云无需单独赋色,即具有纹理信息,对人工目视编辑自动分类后的地面点具有一定的辅助作用。本文对比分析了同一测区的密集匹配点云与激光雷达点云,验证了密集匹配点云用于房屋建筑区及稀疏林区地面点滤波并生产DEM的可行性。 相似文献
15.
拼接是地面激光点云数据处理的必要步骤,但基于同名点的点云拼接方式已成为阻碍点云处理效率提升的长期瓶颈,而直接匹配点云识别同名特征的方法亦对点云重叠区域具有较高的要求。本文提出一种融合语义特征与GPS位置的地面激光点云拼接方法,通过语义知识自动识别出原始三维点云中所包含的地面特征与建筑物立面特征,并使用这两种面状特征结合点云测站中心的GPS位置作为同名标靶进行点云初始拼接,随后使用点到面最小距离约束下的ICP进行点云精确拼接。实验表明,本方法可以有效提高地面激光点云拼接的整体效率,尤其对于包含平面结构（如马路、建筑物）的场景具有良好的拼接效果。 相似文献
16.
基于几何特征约束的建筑物点云配准算法 总被引：9，自引：0，他引：9
针对人工建筑物表面存在的几何特征关系提出了基于几何特征约束的建筑物点云配准算法,根据点云数据中平面与平面重合关系,推导点在平面上和平面法线平行的2种线性不等约束条件。在6独立参数模型中增加几何特征约束的不等约束条件组成了附有约束条件的配准模型。通过对建筑物3维激光扫描点云数据的采集和处理,详细分析了几何特征约束配准算法的处理结果。试验结果分析表明几何特征约束条件可以合理地改善3维空间转换参数解算结果,提出的配准模型较适合于人工建筑物点云数据的配准。 相似文献
17.
The architecture of trees is of particular interest for 3D model creation in forestry and ecolocical applications. Terrestrial (TLS) and mobile laser scanning (MLS) systems are used to acquire detailed geometrical data of trees. Since 3D point clouds from laser scanning consist of large data amounts representing uninterpreted topographical information including noise and data gaps, an extraction of salient tree structures is important for further applications. We present a fully automated modular workflow for topological reliable reconstruction of tree architecture. Object-based point cloud processing such as branch extraction is combined with tree skeletonization. Branch extraction is performed using a segmentation procedure followed by segment-based analysis of form indices derived from eigenvector metrics. Extracted branch primitives are simplified and connected to line features during skeletonization. The modular workflow allows comprehensive parameter tests and error assessments that are used for a calibration of the module parameters with respect to various characteristics of the input data (e.g noise, scanning resolution, and the number of scan positions). The estimated parameter settings are validated using an exemplary MLS data set. The quality of input point cloud data, strongly influencing the quality of the skeleton results, can be improved by the presented branch extraction procedure. The potential for data improvement increases with increasing point densities. For our object-based appoach, we can show that the presence of erroneous structures and filtering artifacts have the strongest influence onto the quality of the derived skeletons. In contrast to traditional skeletonization approaches, the existance of data gaps has less influence onto the results. 相似文献
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The development of robust and accurate methods for automatic registration of optical imagery and 3D LiDAR data continues to be a challenge for a variety of applications in photogrammetry, computer vision and remote sensing. This paper proposes a new approach for the registration of optical imagery with LiDAR data based on the theory of Mutual Information (MI), which exploits the statistical dependency between same- and multi-modal datasets to achieve accurate registration. The MI-based similarity measures quantify dependencies between aerial imagery, and both LiDAR intensity data and 3D point cloud data. The needs for specific physical feature correspondences, which are not always attainable in the registration of imagery with 3D point clouds, are avoided. Current methods for registering 2D imagery to 3D point clouds are first reviewed, after which the mutual MI approach is presented. Particular attention is given to adoption of the Normalised Combined Mutual Information (NCMI) approach as a means to produce a similarity measure that exploits the inherently registered LiDAR intensity and point cloud data so as to improve the robustness of registration between optical imagery and LiDAR data. The effectiveness of local versus global similarity measures is also investigated, as are the transformation models involved in the registration process. An experimental program conducted to evaluate MI-based methods for registering aerial imagery to LiDAR data is reported and the results obtained in two areas with differing terrain and land cover, and with aerial imagery of different resolution and LiDAR data with different point density are discussed. These results demonstrate the potential of the MI and especially the CMI methods for registration of imagery and 3D point clouds, and they highlight the feasibility and robustness of the presented MI-based approach to automated registration of multi-sensor, multi-temporal and multi-resolution remote sensing data for a wide range of applications. 相似文献
20.
经典的基于点状特征匹配的地面激光雷达（light detection and ranging,LiDAR）点云配准算法实现过程中,点状特征的提取精度对算法运行结果的影响通常较大;基于迭代运算的LiDAR点云配准算法计算量大,对未知参数的初值依赖程度较高,在求解大转角刚体变换参数时算法不稳定。对此,提出了一种线状特征约束下基于Plücker直线坐标描述的LiDAR点云配准算法。立足于经典的向量代数与对偶四元数的相关理论与方法,分析并确定了Plücker直线坐标与对偶四元数之间的相互转换关系以及模型描述方法;以LiDAR点云配准前后同名线状特征的Plücker直线坐标相等为约束条件,构建了线状特征约束下基于Plücker直线坐标描述的刚体变换模型;立足于最小二乘基本准则,通过目标函数的极值化分析实现了线状特征约束下地面LiDAR点云配准参数的直接求解。实验结果表明,所构建的基于Plücker直线坐标描述的地面LiDAR点云配准模型,无需事先确定变换参数的初值,避免了多元函数的线性化过程,解除了参数结果对于迭代初值的依赖,理论上克服了迭代法在求解大转角相似变换参数时的算法不稳定问题。此外,较之单纯基于点状特征匹配的LiDAR点云配准算法,该算法可以有效地增强LiDAR点云配准过程的约束,达到提高配准质量的目的。 相似文献