Abstract
Abstract. A 3D model can be useful for inventory management and monitoring of forests. For this task, we present our prototype mobile mapping backpack system for collecting 3D point clouds of forest vegetation. However, data collection in forests is challenging due to unreliable GNSS positioning, moving objects caused by winds, unclear object edges, and uneven ground to walk on. We include LiDAR and IMU with Simultaneous Localisation and Mapping (SLAM). We describe in detail our backpack system, its development for the forest environment, and evaluate it. Furthermore, we compare two open code SLAM algorithms for ROS, as well as data collection and laser scan quality between TLS and MLS for forest environments. Finally, we installed and tested the MicaSense multi-spectral camera on our backpack and discuss the advantages and drawbacks of it. We conclude, that the backpack is convenient to use in forest environments and produces a good point cloud. It can be carried easily off trail and on rough terrain. The system needs less storage space, computation and less collection time than TLS.
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