A Real-Time DBH Ground-Truth Quadruped-Based Methodology for Precise Forest Management

The integration of quadruped robotics with advanced sensing technologies offers a transformative approach to forest management, particularly for real-time measurement of tree Diameter at Breast Height (DBH). This paper introduces a novel methodology by deploying a quadruped robot equipped with GPS, LiDAR, and an aligned high-definition camera to patrol forest paths via a developed dynamic autonomous mission. Utilizing a YOLO-based model for trunk detection, the methodology retrieves precise DBH measurements and corresponding geotags, constructing a spatial database of DBH ground-truth data. This database serves as a real-time ground-truth lookup table to calibrate allometric equations used in drone-based crown detection missions, enhancing the accuracy of forest biophysical attribute estimations such as tree height, volume, and biomass. Experimental validation demonstrates high precision in DBH estimation (error < 5% in controlled tests), supporting automated, around-the-clock data collection for sustainable forest management in Mediterranean ecosystems.