Terrestrial Laser Scanning Point Clouds Research Articles

Heritage Building Information Modelling (HBIM): A Review of Published Case Studies

Abstract. This paper presents a systematic review of published case studies on Heritage Building Information Modelling (HBIM) since 2018, and identifies research gaps in the subject matter. Building upon the foundational work of Ewart and Zuecco (2019), this research aims to reveal the latest trends in HBIM implementation, identify recent developments of HBIM technologies, changes in the purpose of HBIM programs and stakeholder roles and responsibilities, and uncover knowledge gaps that provide avenues for future research. Utilizing the Preferred Reporting Items for Systematic Review and Meta-Analysis (PRISMA) approach, two major academic databases, Scopus and Web of Science (WOS), were searched, resulting in a rich and diverse dataset for analysis. The paper reports findings on the status of reality capture techniques used to acquire data for HBIM development, focusing on terrestrial laser scanning (TLS) technology. The review highlights the benefits and limitations of TLS for data acquisition in HBIM, as well as the integration of TLS with other reality capture technologies, such as Structure from Motion (SfM) and photogrammetry. The paper further outlines the typical workflow for processing TLS scan data and explores the integration of multiple point clouds for comprehensive heritage site modeling. In addition to the state of the art, this systematic review also uncovers several research gaps in the field of HBIM that offer opportunities for future research and innovation, including the lack of guidelines for data acquisition in HBIM programs, the predominantly manual development process of HBIM from TLS point cloud data, and the under-utilized capacity of TLS for long-term monitoring and change detection. This comprehensive review provides valuable insights into the current landscape of HBIM, offering guidance for future research and development in the heritage sector and highlighting areas in need of further investigation to advance the field.

Comparative Study of Single-Wood Biomass Model at Plot Level Based on Multi-Source LiDAR

Forests play an important role in promoting carbon cycling and mitigating the urban heat island effect as one of the world’s major carbon storages. Scientifically quantifying tree biomass is the basis for assessing tree carbon storage and other ecosystem functions. In this study, a sample plot of Populus tomentosa plantation in the Olympic Forest Park in Beijing was selected as the research object. Point cloud data from three types of laser scanners, including terrestrial laser scanner (TLS), backpack laser scanner (BLS), and handheld laser scanner (HLS), were used to estimate the biomass of single tree trunks, branches, leaves, and aboveground total biomass based on the Allometric Biomass Model (ABM) and Advanced Quantitative Structure Model (AdQSM). The following conclusions were drawn from the estimation results: (1) For the three types of laser scanner point clouds, the biomass estimation values obtained using the AdQSM model were generally higher than those obtained using the Allometric Biomass Model. However, the estimation values obtained using the two models were similar, especially for tree trunks and total biomass. (2) For total biomass and individual biomass components of single trees, the results obtained from handheld and terrestrial laser scanner point clouds are consistent; however, they show some differences from the results obtained from backpack-mounted point clouds. This study further enriches the methodological system for estimating forest biomass, providing a theoretical basis and reference for more accurate estimates of forest biomass and more sustainable forest management.

Multi-source point cloud registration for urban areas using a coarse-to-fine approach

ABSTRACT The foundational step in constructing a digital twin involves transforming the physical world into an immersive 3D virtual environment. Unmanned aerial vehicle (UAV)-based photogrammetry, mobile mapping system (MMS), and terrestrial laser scanning (TLS) serve as powerful tools for 3D reconstruction of urban environments. Given the distinctive strengths and weaknesses of each sensor, a multi-source point cloud registration technique is imperative to achieve a detailed and precisely geolocated 3D urban model. Hence, we developed coarse-to-fine approach methods, called building exterior wall-based (BEWB) and building outline-based (BOB) algorithms, to register point clouds captured by diverse sensors in urban scenes. The BEWB algorithm coarsely registers urban point clouds by extracting building exterior walls, establishing correspondence points, and effectively removing outliers within this correspondence point set. The BOB algorithm precisely registers the urban point clouds acquired from multiple sensors by leveraging building outlines and points corresponding to the ground of the point clouds. To validate the proposed algorithms, we initially registered a UAV-based photogrammetry point cloud with the MMS point cloud and subsequently registered the TLS point clouds. Comprehensive quantitative and qualitative analyzes of the results demonstrate that our algorithms outperform existing methods in achieving precise registration. By successfully registering three distinct point clouds, we generated a comprehensive urban scene point cloud characterized by enhanced precision, point density, and geolocation accuracy.

Indoor view-based visibility analysis using UAV and TLS point clouds with Line-of-Sight correction

Visibility analysis is a crucial geographic information processing method, used to assess the observable spatial range from a particular location under specific conditions. It has broad applications, such as urban planning, landscape design and environmental research. Laser scanning provides detailed and accurate 3D data for visibility analysis, called point cloud. However, certain deficiencies still exist in current point cloud-based visibility analysis methods. Few methods are developed from indoor perspective and the influence of point cloud void is rarely considered. Firstly, indoor viewpoints are generated based on the windows extracted from terrestrial laser scanning (TLS) point cloud and unmanned aerial vehicle (UAV) point cloud is used to provide 3D representation of the environment around the viewpoint. Then, a half-sphere viewshed is created for each indoor viewpoint to analyze the visible spatial range. In this step, a novel line-of-sight correction method is proposed based on the semantic information from UAV point cloud, to correct the biased observation distance resulted from point cloud voids. Lastly, the volume of visible space is calculated based on the corrected viewshed image, to evaluate the visibility of each indoor viewpoint. Our method is validated on two datasets. The results indicate that our method enables more accurate simulation of visible space compared with previous studies by considering the effect of point cloud void. The proposed method can support the urban design from the perspective of indoor visual perception and accurate calculation of other visual factors in visual quality evaluation.

Digital 3D Reconstruction of Ancient Chinese Great Wild Goose Pagoda by TLS Point Cloud Hierarchical Registration

Digital reconstruction of ancient buildings is very challenging due to its architectural complexity and structural delicacy. Therefore, how to apply new Earth Observation (EO) technology to digitally reconstruct the complete and real model of ancient buildings without damage has become an urgent issue. This article proposes a multi-scan point cloud hierarchical registration method for 3D reconstruction of the ancient Chinese Great Wild Goose Pagoda based on Terrestrial Laser Scanner (TLS) data. First, a multi-scan point cloud hierarchical registration method is elaborately designed for 3D reconstruction. Then, the outline feature of the ancient Chinese Great Wild Goose Pagoda is automatically extracted by point cloud slicing. Finally, fine modeling is carried out according to the outline feature extracted from the reconstructed point cloud, and after that block combination and texture mapping are conducted for 3D digitalization and documentation. The experiments indicate that the Root Mean Square Error (RMSE) of multi-scan hierarchical registration of the translation and rotation are less than 3 cm and 0.862 ∘ , respectively, and the complete and real model of the Great Wild Goose Pagoda is obtained by fine modeling and texture mapping, which provides an important reference for 3D digital protection of ancient buildings.

Efficient shrub modelling based on terrestrial laser scanning (TLS) point clouds

ABSTRACT This paper presents a methodology for automatically generating 3D models of individual shrubs from point clouds acquired by Terrestrial Laser Scanning (TLS) devices. The creation of accurate 3D models for shrubs holds significant value for ecological studies. The shrub modelling is more challenging compared to other tree modelling tasks, due to the presence of substantial noise and fuzzy branch structures. To address these challenges, our approach first partitions the input point cloud into two categories: branches and others. This point segmentation process effectively eliminates interference of leaves and noise, thereby enhancing the visibility of branch skeletons. Then, we construct a triangulation network using the branch points and establish a minimum spanning tree (MST) based on this network. Serving as the initial skeleton representation of the plant, the MST preserves the essential topological structures of the branches. Within the extracted MST, we implement a recursive trimming technique to eliminate redundant branches by merging adjacent points and edges, ultimately consolidating the skeleton structure. Finally, we employ an adaptive cylinder fitting algorithm that relies on robust principal component analysis (RPCA) to generate the model. The effectiveness and robustness of the proposed method are demonstrated via experiments on different datasets, with an average fitting error of 1.13 cm, indicating that our approach can achieve high accuracy in modelling individual shrubs.

Registration of oblique photography point clouds with terrestrial laser scanning point clouds based on geometric features of irregular building

Matching the terrestrial laser scan point clouds with the unmanned aerial oblique photography point clouds of high-rise irregular buildings can make them complementary. The challenge lies in the different sources and qualities, besides arbitrary angular deviations of the two types of point clouds. We propose a registration method based on point and line features, which automatically recognises the features of these point clouds using normal vectors and 3D-Harris, and solves the registration parameters through rigorous adjustment. The registration model, process and method are introduced. Finally, through the analysis of real case examples, it was found that the registration result of this method was better than the traditional Iterative Closest Point (ICP) in the analysed cases, the proposed registration method not only exhibits good automation but also has the ability to ignore various differences in heterogeneous point clouds, thereby improving the accuracy and efficiency of registration for such point clouds.

3D modeling and volume measurement of bulk grains stored in large warehouses using bi-temporal multi-site terrestrial laser scanning data

Terrestrial laser scanning (TLS) is a promising technology for quantity checking huge grain stocks with low cost, light workload and high efficiency. Existing applications of TLS in bulk grain measurement and quantification lack the ability to capture complete structural information of grain bulks and thus will result in large errors. In this paper, we propose a bi-temporal TLS scheme for fast 3D modeling and accurate volume measurement of bulk grains stored in large warehouses. The scheme uses bi-temporal multi-site TLS datasets acquired under both empty and full or high loading conditions to obtain complete surface information about grain bulk’s structure. In order for a grain bulk’s all external surfaces and the 3D volumetric model reconstructed therefrom to be automatically derived from the bi-temporal TLS dataset, several dedicated methods are developed for the scheme. A fully automated marker-free strategy exploring structurally semantic information inherent in the large grain storehouses is adopted to register multi-scan TLS point cloud data captured in large-scale granary scenes. Also, a local minima-based region growing technique is devised to extract underlying surfaces from a granary scene point cloud model. Experiments show that the proposed 3D modeling and volume measurement scheme can work effectively and quickly in TLS-based granary field applications and repeated test data demonstrate its correctness, repeatability and accuracy. Compared with the conventional manual measurement approach, the bi-temporal TLS scheme can not only achieve much higher measurement precision, but also greatly improve efficiency by significantly reducing cost, workload, and manpower. It has good potential for use in the area of nation-wide grain inventory inspection in China.

Enhancing Tree Species Identification in Forestry and Urban Forests through Light Detection and Ranging Point Cloud Structural Features and Machine Learning

As remote sensing transforms forest and urban tree management, automating tree species classification is now a major challenge to harness these advances for forestry and urban management. This study investigated the use of structural bark features from terrestrial laser scanner point cloud data for tree species identification. It presents a novel mathematical approach for describing bark characteristics, which have traditionally been used by experts for the visual identification of tree species. These features were used to train four machine learning algorithms (decision trees, random forests, XGBoost, and support vector machines). These methods achieved high classification accuracies between 83% (decision tree) and 96% (XGBoost) with a data set of 85 trees of four species collected near Krakow, Poland. The results suggest that bark features from point cloud data could significantly aid species identification, potentially reducing the amount of training data required by leveraging centuries of botanical knowledge. This computationally efficient approach might allow for real-time species classification.

Estimation of plant's morphological parameters using terrestrial laser scanning-based three-dimensional point cloud data

The yield of crop is very important for sustainable agriculture to meet continuously growing demand of food. The morphological parameters, such as plant height (PH), projected leaf area (PLA), and plant volume (PV) are important metrics to estimate crop yield. In this paper, a multi-step methodology is proposed to estimate parameters PH, PLA and PLA using state-of-the-art three-dimensional (3D) mapping technique: terrestrial laser scanning (TLS). The proposed methodology consists of three well-designed steps: pre-processing, ground filtering and clustering, and estimation of plant's morphological parameters. In pre-processing TLS-derived laser scans acquired from multiple scan stations to cover the selected agricultural test site registered and coordinate transformation is performed to convert the TLS point cloud into total station (TS)-based locally defined coordinate system. The second step transformed point cloud data is processed to generate ground and non-ground points, where subsequently Euclidean clustering is employed to generate clusters of non-ground points. The clustered data is cleaned based on geometrical constraints and cabbage plant's clusters are extracted, which are processed using height-based analysis and convex hull algorithm to estimate PH, PLA and PLA of each cluster. The proposed methodology performance was evaluated using TLS point cloud data of selected agricultural field of cabbage plants, and PH, PLA and PLA estimation was performed at RMSE of 0.005 m, 0.012 m2 and 0.0063 m3 respectively. The proposed methodology is efficient and easy to implement step-wise approach from data collection to processing for plant's geometrical analysis, thus it has potential to be used as one of the industrial tools for precision agriculture.

The evaluation of hand-crafted and learned-based features in Terrestrial Laser Scanning-Structure-from-Motion (TLS-SfM) indoor point cloud registration: the case study of cultural heritage objects and public interiors

Modern technologies are commonly used to inventory different architectural or industrial objects (especially cultural heritage objects and sites) to generate architectural documentation or 3D models. The Terrestrial Laser Scanning (TLS) method is one of the standard technologies researchers investigate for accurate data acquisition and processing required for architectural documentation. The processing of TLS data to generate high-resolution architectural documentation is a multi-stage process that begins with point cloud registration. In this step, it is a common practice to identify corresponding points manually, semi-manually or automatically. There are several challenges for the TLS point cloud processing in the data registration process: correct spatial distribution, marking of control points, automation, and robustness analysis. This is particularly important when large, complex heritage sites are investigated, where it is impossible to distribute marked control points. On the other hand, when orientating multi-temporal data, there is also the problem of corresponding reference points. For this reason, it is necessary to use automatic tie-point detection methods. Therefore, this article aims to evaluate the quality and completeness of the TLS registration process using 2D raster data in the form of spherical images and Affine Hand-crafted and Learned-based detectors in the multi-stage TLS point cloud registration as test data; point clouds were used for the historic 17th-century cellars of the Royal Castle in Warsaw without decorative structures, two baroque rooms in the King John III Palace Museum in Wilanów with decorative elements, ornaments and materials on the walls and flat frescoes, and two modern test fields, narrow office, and empty shopping mall. The extended Structure-from-Motion was used to determine the tie points for the complete TLS registration and reliability analysis. The evaluation of detectors demonstrates that for the test sites exhibiting rich textures and numerous ornaments, a combination of AFAST, ASURF, ASIFT, SuperGlue and LoFTR can be effectively employed. For the point cloud registration of less textured buildings, it is advisable to use AFAST/ASIFT. The robust method for point cloud registration exhibits comparable outcomes to the conventional target-based and Iterative Closest Points methods.

ASSESSING THE ALIGNMENT BETWEEN GEOMETRY AND COLORS IN TLS COLORED POINT CLOUDS

Abstract. The integration of the color information from RGB cameras with the point cloud geometry is used in numerous applications. However, little attention has been paid on errors that occur when aligning colors to points in terrestrial laser scanning (TLS) point clouds. Such errors may impact the performance of algorithms that utilize colored point clouds. Herein, we propose a procedure for assessing the alignment between the TLS point cloud geometry and colors. The procedure is based upon identifying artificial targets observed in both LiDAR-based point cloud intensity data and camera-based RGB data, and quantifying the quality of the alignment using differences between the target center coordinates estimated separately from these two data sources. Experimental results with eight scanners show that the quality of the alignment depends on the scanner, the software used for colorizing the point clouds, and may change with changing environmental conditions. While we found the effects of misalignment to be negligible for some scanners, they exhibited clearly systematic patterns exceeding the beam divergence, image and scan resolution for four of the scanners. The maximum deviations were about 2 mrad perpendicular to the line-of-sight when colorizing the point clouds with the respective manufacturer’s software or scanner in-built functions, while they were up to about 5 mrad when using a different software. Testing the alignment quality, e.g., using the approach presented herein, is thus important for applications requiring accurate alignment of the RGB colors with the point cloud geometry.

Combination of Terrestrial Laser Scanning and Unmanned Aerial Vehicle Photogrammetry for Heritage Building Information Modeling: A Case Study of Tarsus St. Paul Church

Cultural heritage building information modeling (HBIM) is an emerging process allowing us to reconstruct built heritage virtually. The data of a digitally documented cultural heritage building offers significant advantages as it is accessible and modifiable by all professionals involved in the same or different projects. The most important factor affecting the accuracy and precision of the HBIM model is the ability to collect complete and accurate information about the physical structure. Combining terrestrial laser scanning (TLS) and unmanned aerial vehicle (UAV) photogrammetry point clouds is one of the most efficient ways to capture accurate digital data on the building. This study provides the foundation for creating an HBIM model for cultural heritage the coupling of spatial data with TLS and UAV. This paper aims to generate synergy between TLS and UAV point cloud data and ensure that the spatial database contains sufficient data to model historical objects with HBIM tendencies.

Nonrigid Point Cloud Registration Using Piecewise Tricubic Polynomials as Transformation Model

Nonrigid registration presents a significant challenge in the domain of point cloud processing. The general objective is to model complex nonrigid deformations between two or more overlapping point clouds. Applications are diverse and span multiple research fields, including registration of topographic data, scene flow estimation, and dynamic shape reconstruction. To provide context, the first part of the paper gives a general introduction to the topic of point cloud registration, including a categorization of existing methods. Then, a general mathematical formulation for the point cloud registration problem is introduced, which is then extended to address also nonrigid registration methods. A detailed discussion and categorization of existing approaches to nonrigid registration follows. In the second part of the paper, we propose a new method that uses piecewise tricubic polynomials for modeling nonrigid deformations. Our method offers several advantages over existing methods. These advantages include easy control of flexibility through a small number of intuitive tuning parameters, a closed-form optimization solution, and an efficient transformation of huge point clouds. We demonstrate our method through multiple examples that cover a broad range of applications, with a focus on remote sensing applications—namely, the registration of airborne laser scanning (ALS), mobile laser scanning (MLS), and terrestrial laser scanning (TLS) point clouds. The implementation of our algorithms is open source and can be found our public repository.

Three-Dimensional Reconstruction of Railway Bridges Based on Unmanned Aerial Vehicle–Terrestrial Laser Scanner Point Cloud Fusion

To address the incomplete image data collection of close-to-ground structures, such as bridge piers and local features like the suspension cables in bridges, obtained from single unmanned aerial vehicle (UAV) oblique photography and the difficulty in acquiring point cloud data for the top structures of bridges using single terrestrial laser scanners (TLSs), as well as the lack of textural information in TLS point clouds, this study aims to establish a high-precision, complete, and realistic bridge model by integrating UAV image data and TLS point cloud data. Using a particular large-scale dual-track bridge as a case study, the methodology involves aerial surveys using a DJI Phantom 4 RTK for comprehensive image capture. We obtain 564 images circling the bridge arches, 508 images for orthorectification, and 491 images of close-range side views. Subsequently, all images, POS data, and ground control point information are imported into Context Capture 2023 software for aerial triangulation and multi-view image dense matching to generate dense point clouds of the bridge. Additionally, ground LiDAR scanning, involving the placement of six scanning stations both on and beneath the bridge, was conducted and the point cloud data from each station are registered in Trimble Business Center 5.5.2 software based on identical feature points. Noise point clouds are then removed using statistical filtering techniques. The integration of UAV image point clouds with TLS point clouds is achieved using the iterative closest point (ICP) algorithm, followed by the creation of a TIN model and texture mapping using Context Capture 2023 software. The effectiveness of the integrated modeling is verified by comparing the geometric accuracy and completeness of the images with those obtained from a single UAV image-based model. The integrated model is used to generate cross-sectional profiles of the dual-track bridge, with detailed annotations of boundary dimensions. Structural inspections reveal honeycomb surfaces and seepage in the bridge piers, as well as painted rust and cracks in the arch ribs. The geometric accuracy of the integrated model in the X, Y, and Z directions is 1.2 cm, 0.8 cm, and 0.9 cm, respectively, while the overall 3D model accuracy is 1.70 cm. This method provides technical reference for the reconstruction of three-dimensional point cloud bridge models. Through 3D reconstruction, railway operators can better monitor and assess the condition of bridge structures, promptly identifying potential defects and damages, thus enabling the adoption of necessary maintenance and repair measures to ensure the structural safety of the bridges.

As-built BIM reconstruction of piping systems using smartphone videogrammetry and terrestrial laser scanning

The increasing adoption of Building Information Modeling (BIM) in the construction industry has created a demand for methods to update existing facilities with accurate as-built BIM models. While terrestrial laser scanners (TLS) are commonly used for indoor surveys due to their speed and precision, they face limitations in areas with physical constraints like confined spaces and occlusions, with pipes being particularly affected. This paper presents a smartphone videogrammetry approach designed to enhance the accuracy and completeness of terrestrial laser scanner (TLS) point clouds for as-built BIM reconstruction. The method involves capturing missing areas within the TLS point cloud with smartphones and then seamlessly integrating these data into a more comprehensive multi-modal point cloud. This approach is validated using real scan data and offers convenience through the use of readily available and cost-effective smartphones, while its iterative nature facilitates progressive BIM reconstruction of pipe structures. Additionally, a compatible progressive BIM reconstruction framework is outlined, aiming to modernize scan-to-BIM practices in the construction industry, with a case study demonstrating its feasibility.

SELECTED QUALITATIVE ASPECTS OF LIDAR POINT CLOUDS: GEOSLAM ZEB-REVO AND FARO FOCUS 3D X130

Abstract. This paper presents a comparison of LiDAR point clouds acquired using two, different measurement techniques: static TLS (Terrestrial Laser Scanning) performed with a FARO Focus3D X130 laser scanner and a SLAM-based (Simultaneous Localization and Mapping) unit of MLS (Mobile Laser Scanning), namely GeoSLAM ZEB-REVO. After the two point clouds were brought into a single coordinate system, they were compared with each other in terms of internal accuracy and density. The density aspect was visualized using 2D density rasters, and calculated using 3 methods available in CloudCompare software. Thus, one should consider before choosing how to acquire a LiDAR point cloud whether a short measurement time is more important (ZEB-REVO) or whether higher density and measurement accuracy is more important (FARO Focus3D X130). In BIM/HBIM modeling applications, logic dictates that the TLS solution should be chosen, despite the longer data acquisition and processing time, but with a cloud with far better quality parameters that allow objects on the point cloud to be recognized. In a situation where the TLS point cloud is 20 times more dense, it allows to model objects at the appropriate level of geometric detail.

Cross-Polarized SfM Photogrammetry for the Spatial Reconstruction of Challenging Surfaces, the Case Study of Dobšiná Ice Cave (Slovakia)

Geodetic methods are integral to mapping surface and subsurface objects and phenomena. Modern geodetic technologies such as laser scanning and digital photogrammetry have also become a standard part of the mapping and documentation of cave spaces. In some cases, these technologies cannot accurately capture the measured surface and thus provide reliable data. One such example is the ice with specific surface characteristics in caves with ice deposits. One of the world’s most studied ice caves is the Dobšiná Ice Cave (Slovakia), which has undergone significant changes in the ice-filling area and volume in recent years. To monitor and analyze all these changes properly, we need to know the surface and volume of this ice mass and monitor it regularly. Where modern geodetic methods such as terrestrial laser scanning (TLS) or digital photogrammetry may fail due to the ice’s physical properties, we propose using cross-polarized Structure-from-Motion (SfM) photogrammetry. As a case study, this method was used in a 28 m long ice tunnel in this cave. Two polarizing filters (on the flash as a light source and on the camera lens) were used in 90° rotation to each other to achieve the cross-polarization effect and remove surface reflections. This removed the surface reflections, giving us a compact and accurate point cloud of the entire tunnel. The dense cloud from cross-polarized (CP) photogrammetry is denser and more compact and does not contain as many outliers and noise points when compared to non-cross-polarized (non-CP) photogrammetry. The TLS point cloud covers the entire surface of the tunnel without significant holes; however, the penetration of the beam through the ice makes such a cloud unusable. Only the cloud from CP photogrammetry covers the entire surface of the tunnel densely enough without additional noise. This methodology can then be used in other parts of the cave or other geomorphological applications to suppress reflections so high-quality results for further processing and analysis can be obtained.

Discrimination of Leaves in a Multi-Layered Mediterranean Forest through Machine Learning Algorithms

Terrestrial laser scanning (TLS) technology characterizes standing trees with millimetric precision. An important step to accurately quantify tree volume and above-ground biomass using TLS point clouds is the discrimination between timber and leaf components. This study evaluates the performance of machine learning (ML)-derived models aimed at discriminating timber and leaf TLS point clouds, focusing on eight Mediterranean tree species datasets. The results show the best accuracies for random forests, gradient boosting machine, stacked ensemble model, and deep learning models with an average F1 score equal to 0.92. The top-performing ML-derived models showed well-balanced average precision and recall rates, ranging from 0.86 to 0.91 and 0.92 to 0.96 for precision and recall, respectively. Our findings show that Italian maple, European beech, hazel, and small-leaf lime tree species have more accurate F1 scores, with the best average F1 score of 0.96. The factors influencing the timber–leaf discrimination include phenotypic factors, such as bark surface (i.e., roughness and smoothness), technical issues (i.e., noise points and misclassification of points), and secondary factors (i.e., bark defects, lianas, and microhabitats). The top-performing ML-derived models report a time computation ranging from 8 to 37 s for processing 2 million points. Future studies are encouraged to calibrate, configure, and validate the potential of top-performing ML-derived models on other tree species and at the plot level.

Improving Estimation of Tree Parameters by Fusing ALS and TLS Point Cloud Data Based on Canopy Gap Shape Feature Points

Airborne laser scanning (ALS) and terrestrial laser scanning (TLS) are two ways to obtain forest three-dimensional (3D) spatial information. Due to canopy occlusion and the features of different scanning methods, some of the forest point clouds acquired by a single scanning platform may be missing, resulting in an inaccurate estimation of forest structure parameters. Hence, the registration of ALS and TLS point clouds is an alternative for improving the estimation accuracy of forest structure parameters. Currently, forest point cloud registration is mainly conducted based on individual tree attributes (e.g., location, diameter at breast height, and tree height), but the registration is affected by individual tree segmentation and is inefficient. In this study, we proposed a method to automatically fuse ALS and TLS point clouds by using feature points of canopy gap shapes. First, the ALS and TLS canopy gap boundary vectors were extracted by the canopy point cloud density model, and the turning or feature points were obtained from the canopy gap vectors using the weighted effective area (WEA) algorithm. The feature points were then aligned, the transformation parameters were solved using the coherent point drift (CPD) algorithm, and the TLS point clouds were further aligned using the recovery transformation matrix and refined by utilizing the iterative closest point (ICP) algorithm. Finally, individual tree segmentations were performed to estimate tree parameters using the TLS and fusion point clouds, respectively. The results show that the proposed method achieved more accurate registration of ALS and TLS point clouds in four plots, with the average distance residuals of coarse and fine registration of 194.83 cm and 2.14 cm being much smaller compared with those from the widely used crown feature point-based method. Using the fused point cloud data led to more accurate estimates of tree height than using the TLS point cloud data alone. Thus, the proposed method has the potential to improve the registration of ALS and TLS point cloud data and the accuracy of tree height estimation.