forest inventory with terrestrial lidar · ©doucet jl methods pre-processing faro registering the...
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Forest inventory with Terrestrial LiDAR: what about Hand-Held Mobile LiDAR?
ForestSat 2014, Nov. 5, Riva del Garda (Italy)
Bauwens Sébastien, Bartholomeus H., Piboule A., Calders K., Lejeune P.
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©Doucet JL
Introduction
3 types of laser scanning systems:
Airborne Laser Scanning (ALS)
2
Pulse 2
Pulse 1
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©Doucet JL
Introduction
3 types of laser scanning systems:
Airborne Laser Scanning (ALS)
Terrestrial Laser scanning (TLS)
3
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©Doucet JL
Introduction
3 types of laser scanning systems:
Airborne Laser Scanning (ALS)
Terrestrial Laser scanning (TLS)
Mobile Laser Scanning (MLS)
4 http://www.soue.org.uk/souenews/issue4/mobilerobots.html http://en.wikipedia.org/wiki/Laser_scanning
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©Doucet JL
Introduction
Mobile Laser Scanning
Personal Laser Scanning (PLS)
5
Kukko et al., 2012 Liang et al., 2014
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©Doucet JL
Introduction
Mobile Laser Scanning
Personal Laser Scanning (PLS):
6
Kukko et al., 2012 Liang et al., 2014
Hand-Held Mobile LiDAR
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©Doucet JL
Materials
7
Bosse M. et al. (2012)
FARO FOCUS 3D ZEB1
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©Doucet JL
Materials
8
FARO Focus 3D 120
ZEB1
Accuracy @ 10m 2 mm 3 cm
Range 120 m 30 m
Beam divergence 0.19 mrad 10-14 mrad
Weight 5 kg 700 g
Approx.price 41 000 € 22 000€
0.4 €/credits
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©Doucet JL
Methods Study sites
9
10 TL6
31 TL4
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©Doucet JL
Methods Study sites
10
10 TL6
31 TL4
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©Doucet JL
Methods Site study
11
10 TL6
31 TL4
=122
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©Doucet JL
Methods Field data acquisition
4 plots:
Circular plots of 15 m of radius
DBH measurement of trees > 10 cm with tape
Position of trees (azimuth and distance)
FARO Scans (TLS)
ZEB1 Scan (PLS-HHMLS)
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©Doucet JL
Methods Field data acqusition
1st TLS method: Single scan in the center
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©Doucet JL
Methods Field data acqusition
2nd TLS method: multi-scan (5 scans)
Setting up the position of the scans
14
N
S
W E
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©Doucet JL
Methods Field data acqusition
2nd TLS method: multi-scan (5 scans)
Setting up the spheres
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©Doucet JL
Methods Field data acqusition
2nd TLS method: multi-scan (5 scans)
Scans with 1/5th of the full resolution
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©Doucet JL
Methods Field data acqusition
2nd TLS method: multi-scan (5 scans)
Scans with 1/5th of the full resolution
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©Doucet JL
Methods Field data acqusition
2nd TLS method: multi-scan (5 scans)
Scans with 1/5th of the full resolution
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©Doucet JL
Methods Field data acqusition
2nd TLS method: multi-scan (5 scans)
Scans with 1/5th of the full resolution
19
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©Doucet JL
Methods Field data acqusition
2nd TLS method: multi-scan (5 scans)
Scans with 1/5th of the full resolution
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©Doucet JL
Methods Field data acqusition
ZEB1 acquisition design:
21 STARTNG POINT
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©Doucet JL
Methods Field data acqusition
ZEB1 acquisition design:
Walk in the plot
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©Doucet JL
Methods Field data acqusition
ZEB1 acquisition design:
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©Doucet JL
Methods Field data acqusition
ZEB1 acquisition design:
Making loop
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©Doucet JL
Methods Field data acqusition
ZEB1 acquisition design:
Making loop
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©Doucet JL
Methods Field data acqusition
ZEB1 acquisition design:
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©Doucet JL
Methods Field data acqusition
ZEB1 acquisition design:
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©Doucet JL
Methods Field data acqusition
ZEB1 acquisition design:
Closing the path
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©Doucet JL
Methods
Pre-processing
FARO
Registering the 5 scans together by fitting the spheres with SCENE
Export of the point cloud in .xyb
ZEB
Uploading the scan in a server to refine the registering of the point cloud (average cost of 87 crédits/plot)
Download the registered scans in .laz
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©Doucet JL
Methods Processing the point cloud
Processing with COMPUTREE
Algorithms from ONF-ENSAM (Othmani et al., 2011)
Extraction of rasters of 50 cm of resolution:
Density of the points classified as soil
Digital Terrain Model (DTM)
Canopy Height Model (CHM)
Fitting cylinders on stems & extraction of DBH
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©Doucet JL
Analysis
Evaluation criteria for the estimated DBH
_
RMS
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Yi= DBH measured with tape Yri= DBH estimated from LiDAR scan
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©Doucet JL
Results Point cloud of one tree in the plot
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FARO with 5 scans ZEB scan
Beech from plot 10
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©Doucet JL
Results Point cloud of one tree in the plot
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Results Terrain extraction
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FARO 5 scans
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Results Terrain extraction
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ZEB1
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©Doucet JL
Results « Consitency » of the point cloud
Slice at 1.3m height
Top view (from z)
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5 FARO scans 1 FARO scan ZEB1 scan
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©Doucet JL
Results « Consitency » of the point cloud
5 FARO scans VS ZEB scan
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©Doucet JL
5 FARO scans
Results Digital Terrain Model
1 FARO scan
h=14.4 m
h=7.0 m
h=14.5 m
h=6.9 m
h= 14.6 m
h=7.1 m
Plot
10
Plot
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ZEB1 scan
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©Doucet JL
Results Spatial distributions of points on the soil
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5 FARO scans 1 FARO scan ZEB1 scan
Plot
10
Plot
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©Doucet JL
Results Canopy Height Model
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5 FARO scans 1 FARO scan ZEB1 scan
PLOT 10
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©Doucet JL
Results Canopy Height Model
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5 FARO scans 1 FARO scan ZEB1 scan
PLOT 10
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Results DBH estimation: 1 FARO scan
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©Doucet JL
Results DBH estimation: 5 FARO scans
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©Doucet JL
Results DBH estimation: ZEB scan
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©Doucet JL
Results DBH estimation
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single Scan
multi Scan
ZEB1
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Time cost
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Time cost
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Time cost
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©Doucet JL
Conclusion (1) ZEB1
Negative (-):
Noisy point cloud
Accuracy of 3cm
Oversampling of the understory within the range of the scanner
High beam divergence (12 cm @ 10m)
No reliable CHM
Range of the scanner
Upload the data on a server
offline check impossible
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©Doucet JL
Conclusion (2)
ZEB1:
Positive (+)
Homogenous distribution of the points in XY
Same quality of the DTM (vs 2 other methods)
Good quality of DBH extraction
High rate of tree detection
Field work time similar to the time needed with usual measurement tools
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©Doucet JL
Thanks
& thanks to Coralie Mengal, Cédric Geerts, Alain Monseur, Benoît Mackels & Fred Henrotay, the technical team
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©Doucet JL
Annexes
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©Doucet JL
CHM
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Plot 10 Plot 31
Hdom Hdom
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Discussion DBH estimation
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Discussion DBH estimation
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References
Bosse, Michael; Zlot, Robert; Flick, P., "Zebedee: Design of a Spring-Mounted 3-D Range Sensor with
Application to Mobile Mapping," Robotics, IEEE Transactions on , vol.28, no.5, pp.1104,1119, Oct. 2012 doi: 10.1109/TRO.2012.2200990
Kukko, A., Kaartinen, H., Hyyppä, J., & Chen, Y. (2012). Multiplatform mobile laser scanning: Usability and performance. Sensors, 12(9), 11712-11733.
Liang, X., Kukko, A., Kaartinen, H., Hyyppä, J., Yu, X., Jaakkola, A., & Wang, Y. (2014). Possibilities of a Personal Laser Scanning System for Forest Mapping and Ecosystem Services. Sensors, 14(1), 1228-1248.0
Lindberg, E., Holmgren, J., Olofsson, K., & Olsson, H. (2012). Estimation of stem attributes using a combination of terrestrial and airborne laser scanning. European Journal of Forest Research, 131(6), 1917-1931.
Othmani, A., Piboule, A., Krebs, M., Stolz, C., & Voon, L. F. C. L. Y. (2011). Towards automated and operational forest inventories with T-Lidar. In Proceedings of SilviLaser 2011, 11th International Conference on LiDAR Applications for Assessing Forest Ecosystems
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