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Extracting Diameter at Breast Height with a Handheld Mobile LiDAR System in an Outdoor Environment

Key Lab of State Forestry and Grassland Administration on Forestry Equipment and Automation, School of Technology, Beijing Forestry University, Beijing 100083, China
College of Engineering, China Agricultural University, Beijing 100083, China
Dalian Hangjia Robotics Co, Ltd., Dalian 116000, China
Author to whom correspondence should be addressed.
Sensors 2019, 19(14), 3212;
Received: 29 May 2019 / Revised: 8 July 2019 / Accepted: 18 July 2019 / Published: 21 July 2019
(This article belongs to the Special Issue Mobile Laser Scanning Systems)
PDF [6907 KB, uploaded 21 July 2019]


Mobile laser scanning (MLS) is widely used in the mapping of forest environments. It has become important for extracting the parameters of forest trees using the generated environmental map. In this study, a three-dimensional point cloud map of a forest area was generated by using the Velodyne VLP-16 LiDAR system, so as to extract the diameter at breast height (DBH) of individual trees. The Velodyne VLP-16 LiDAR system and inertial measurement units (IMU) were used to construct a mobile measurement platform for generating 3D point cloud maps for forest areas. The 3D point cloud map in the forest area was processed offline, and the ground point cloud was removed by the random sample consensus (RANSAC) algorithm. The trees in the experimental area were segmented by the European clustering algorithm, and the DBH component of the tree point cloud was extracted and projected onto a 2D plane, fitting the DBH of the trees using the RANSAC algorithm in the plane. A three-dimensional point cloud map of 71 trees was generated in the experimental area, and estimated the DBH. The mean and variance of the absolute error were 0.43 cm and 0.50, respectively. The relative error of the whole was 2.27%, the corresponding variance was 15.09, and the root mean square error (RMSE) was 0.70 cm. The experimental results were good and met the requirements of forestry mapping, and the application value and significance were presented. View Full-Text
Keywords: mobile laser scanning; 3D point cloud map; diameter at breast height mobile laser scanning; 3D point cloud map; diameter at breast height

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Zhou, S.; Kang, F.; Li, W.; Kan, J.; Zheng, Y.; He, G. Extracting Diameter at Breast Height with a Handheld Mobile LiDAR System in an Outdoor Environment. Sensors 2019, 19, 3212.

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