Target-based automated matching of multiple terrestrial laser scans for complex forest scenes

Abstract

Terrestrial laser scanners are widely used to derive unbiased and non-destructive estimates of the vertical distribution of the plant area index and plant area volume density at plot-level scales, as well as the above-ground biomass, height, and diameter at breast height of individual trees. Multiple scans are often employed to capture and register data so that all of the stems can be detected and their complete forms can be analyzed. Researchers have traditionally preferred target-less strategies to register scans because of their low cost and convenience. However, in complex forest scenes, even state-of-the-art approaches cannot guarantee the success of any pairwise registration. In this study, we present an automated target-based processing approach for the registration of unordered scans in complex forest scenes. In contrast to previous studies, the proposed registration method automatically detects the artificial targets and builds a geometric network to judge their connectivity. A pose graph is then exploited to combine these data with the corresponding pairwise transformation, and then the scans are integrated into a unified coordinate system. This method is more robust and efficient than target-less approaches because it is independent of the characteristics of individual trees and does not require ground information. In an experimental scenario, we use an extremely complex wild bamboo forest scene to evaluate the performance of the proposed approach in terms of robustness, accuracy, and efficiency.