Enhanced Algorithms for Estimating Tree Trunk Diameter Using 2D Laser Scanner [Elektronisk resurs]

• Accurate vehicle localization in forest environments is still an unresolved problem. Global navigation satellite systems (GNSS) have well known limitations in dense forest, and have to be combined with for instance laser based SLAM algorithms to provide satisfying accuracy. Such algorithms typically require accurate detection of trees, and estimation of tree center locations in laser data. Both these operations depend on accurate estimations of tree trunk diameter. Diameter estimations are important also for several other forestry automation and remote sensing applications. This paper evaluates several existing algorithms for diameter estimation using 2D laser scanner data. Enhanced algorithms, compensating for beam width and using multiple scans, were also developed and evaluated. The best existing algorithms overestimated tree trunk diameter by ca. 40%. Our enhanced algorithms, compensating for laser beam width, reduced this error to less than 12%. 

Ämnesord

Natural Sciences  (hsv)

Computer and Information Science  (hsv)

Computer Science  (hsv)

Naturvetenskap  (hsv)

Data- och informationsvetenskap  (hsv)

Datavetenskap (datalogi)  (hsv)

Agricultural Sciences  (hsv)

Agricultural Science, Forestry and Fisheries  (hsv)

Forest Science  (hsv)

Lantbruksvetenskaper  (hsv)

Lantbruksvetenskap, skogsbruk och fiske  (hsv)

Skogsvetenskap  (hsv)

data- och systemvetenskap  (umu)

Computer and Information Science  (umu)

Indexterm och SAB-rubrik

beam width compensation

multiple laser scans

stem diameter

forestry

accuracy and quality

terrestrial laser scanning

mobile laser scanning