Realistic forest stand reconstruction from terrestrial LiDAR for radiative transfer modelling

Forest biophysical variables derived from remote sensing observations are vital for climate research. The combination of structurally and radiometrically accurate 3D virtual forests with radiative transfer (RT) models creates a powerful tool to facilitate the calibration and validation of remote sensing data and derived biophysical products by helping us understand the assumptions made in data processing algorithms. We present a workflow that uses highly detailed 3D terrestrial laser scanning (TLS) data to generate virtual forests for RT model simulations. Our approach to forest stand reconstruction from a co-registered point cloud is unique as it models each tree individually. Our approach follows three steps: (1) tree segmentation; (2) tree structure modelling and (3) leaf addition. To demonstrate this approach, we present the measurement and construction of a one hectare model of the deciduous forest in Wytham Woods (Oxford, UK). The model contains 559 individual trees. We matched the TLS data with traditional census data to determine the species of each individual tree and allocate species-specific radiometric properties. Our modelling framework is generic, highly transferable and adjustable to data collected with other TLS instruments and different ecosystems. The Wytham Woods virtual forest is made publicly available through an online repository

Insights into tree morphology and canopy space occupation under the influence of local neighbourhood interactions in mature temperate forests using laser scanning technology

Mounting evidence suggests that tree species richness promotes ecosystem functioning in forests. However, the mechanisms driving positive biodiversity ecosystem functioning relationships remain largely unclear. This also holds for the previously proposed key mechanisms of resource partitioning in canopy space. Until recently, surveying and hence the study of crown space was very time-consuming and the images low resolution. The application of high-resolution laser scanning, however, now enables a fast and precise recording of entire forests. This thesis presents how the abandonment of management strongly alters the individual tree structure from the wood distribution along the trunk to the crown, a tree species-rich neighbourhood can increase the wood volume and crown dimension of individual trees as well as the productivity of large-sized trees, mobile laser scanning in forests is suitable for the acquisition of high-quality point clouds and determination of relevant management parameters, and the direction and strength of the relationship between tree species richness and canopy occupation depends on the definition of both canopy and species richness. These results reinforce the influence of species richness on ecosystem functions in oldgrowth forests and underline the importance of laser scanning for forest ecology research. The findings of the comparative analyses further highlight the importance of underlying definitions for the results obtained

Opaque voxel-based tree models for virtual laser scanning in forestry applications

Virtual laser scanning (VLS), the simulation of laser scanning in a computer environment, is a useful tool for field campaign planning, acquisition optimisation, and development and sensitivity analyses of algorithms in various disciplines including forestry research. One key to meaningful VLS is a suitable 3D representation of the objects of interest. For VLS of forests, the way trees are constructed influences both the performance and the realism of the simulations. In this contribution, we analyse how well VLS can reproduce scans of individual trees in a forest. Specifically, we examine how different voxel sizes used to create a virtual forest affect point cloud metrics (e.g., height percentiles) and tree metrics (e.g., tree height and crown base height) derived from simulated point clouds. The level of detail in the voxelisation is dependent on the voxel size, which influences the number of voxel cells of the model. A smaller voxel size (i.e., more voxels) increases the computational cost of laser scanning simulations but allows for more detail in the object representation. We present a method that decouples voxel grid resolution from final voxel cube size by scaling voxels to smaller cubes, whose surface area is proportional to estimated normalised local plant area density. Voxel models are created from terrestrial laser scanning point clouds and then virtually scanned in one airborne and one UAV-borne simulation scenario. Using a comprehensive dataset of spatially overlapping terrestrial, UAV-borne and airborne laser scanning field data, we compare metrics derived from simulated point clouds and from real reference point clouds. Compared to voxel cubes of fixed size with the same base grid size, using scaled voxels greatly improves the agreement of simulated and real point cloud metrics and tree metrics. This can be largely attributed to reduced artificial occlusion effects. The scaled voxels better represent gaps in the canopy, allowing for higher and more realistic crown penetration. Similarly high accuracy in the derived metrics can be achieved using regular fixed-sized voxel models with notably finer resolution, e.g., 0.02 m. But this can pose a computational limitation for running simulations over large forest plots due to the ca. 50 times higher number of filled voxels. We conclude that opaque scaled voxel models enable realistic laser scanning simulations in forests and avoid the high computational cost of small fixed-sized voxels

Advances in measuring forest structure by terrestrial laser scanning with the Dual Wavelength ECHIDNA® LIDAR (DWEL)

Leaves in forests assimilate carbon from the atmosphere and woody components store the net production of that assimilation. Separate structure measurements of leaves and woody components advance the monitoring and modeling of forest ecosystem functions. This dissertation provides a method to determine, for the first time, the 3-D spatial arrangement and the amount of leafy and woody materials separately in a forest by classification of lidar returns from a new, innovative, lidar scanner, the Dual-Wavelength Echidna® Lidar (DWEL). The DWEL uses two lasers pulsing simultaneously and coaxially at near-infrared (1064 nm) and shortwave-infrared (1548 nm) wavelengths to locate scattering targets in 3-D space, associated with their reflectance at the two wavelengths. The instrument produces 3-D bispectral "clouds" of scattering points that reveal new details of forest structure and open doors to three-dimensional mapping of biophysical and biochemical properties of forests. The three parts of this dissertation concern calibration of bispectral lidar returns; retrieval of height profiles of leafy and woody materials within a forest canopy; and virtual reconstruction of forest trees from multiple scans to estimate their aboveground woody biomass. The test area was a midlatitude forest stand within the Harvard Forest, Petersham, Massachusetts, scanned at five locations in a 1-ha site in leaf-off and leaf-on conditions in 2014. The model for radiometric calibration assigned accurate values of spectral apparent reflectance, a range-independent and instrument-independent property, to scattering points derived from the scans. The classification of leafy and woody points, using both spectral and spatial context information, achieved an overall accuracy of 79±1% and 75±2% for leaf-off and leaf-on scans, respectively. Between-scan variation in leaf profiles was larger than wood profiles in leaf-off seasons but relatively similar to wood profiles in leaf-on seasons, reflecting the changing spatial heterogeneity within the stand over seasons. A 3-D structure-fitting algorithm estimated wood volume by modeling stems and branches from point clouds of five individual trees with cylinders. The algorithm showed the least variance for leaf-off, woody-points-only data, validating the value of separating leafy and woody points to the direct biomass estimates through the structure modeling of individual trees

FOR-instance: a UAV laser scanning benchmark dataset for semantic and instance segmentation of individual trees

The FOR-instance dataset (available at https://doi.org/10.5281/zenodo.8287792) addresses the challenge of accurate individual tree segmentation from laser scanning data, crucial for understanding forest ecosystems and sustainable management. Despite the growing need for detailed tree data, automating segmentation and tracking scientific progress remains difficult. Existing methodologies often overfit small datasets and lack comparability, limiting their applicability. Amid the progress triggered by the emergence of deep learning methodologies, standardized benchmarking assumes paramount importance in these research domains. This data paper introduces a benchmarking dataset for dense airborne laser scanning data, aimed at advancing instance and semantic segmentation techniques and promoting progress in 3D forest scene segmentation. The FOR-instance dataset comprises five curated and ML-ready UAV-based laser scanning data collections from diverse global locations, representing various forest types. The laser scanning data were manually annotated into individual trees (instances) and different semantic classes (e.g. stem, woody branches, live branches, terrain, low vegetation). The dataset is divided into development and test subsets, enabling method advancement and evaluation, with specific guidelines for utilization. It supports instance and semantic segmentation, offering adaptability to deep learning frameworks and diverse segmentation strategies, while the inclusion of diameter at breast height data expands its utility to the measurement of a classic tree variable. In conclusion, the FOR-instance dataset contributes to filling a gap in the 3D forest research, enhancing the development and benchmarking of segmentation algorithms for dense airborne laser scanning data

Innovations in ground and airborne technologies as reference and for training and validation : terrestrial laser scanning (TLS)

The use of terrestrial laser scanning (TLS) to provide accurate estimates of 3D forest canopy structure and above-ground biomass (AGB) has developed rapidly. Here, we provide an overview of the state of the art in using TLS for estimating forest structure for AGB. We provide a general overview of TLS methods and then outline the advantages and limitations of TLS for estimating AGB. We discuss the specific type of measurements that TLS can provide, tools and methods that have been developed for turning TLS point clouds into quantifiable metrics of tree size and volume, as well as some of the challenges to improving these measurements. We discuss the role of TLS for enabling accurate calibration and validation (cal/val) of Earth observation (EO)-derived estimates of AGB from spaceborne lidar and RADAR missions. We give examples of the types of TLS equipment that are in use and how these might develop in future, and we show examples of where TLS has already been applied to measuring AGB in the tropics in particular. Comparing TLS with harvested AGB shows r(2)>0.95 for all studies thus far, with absolute agreement to within 10% at the individual tree level for all trees and to within 2% in the majority of cases. Current limitations to the uptake of TLS include the capital cost of some TLS equipment, processing complexity and the relatively small coverage that is possible. We argue that combining TLS measurements with the existing ground-based survey approaches will allow improved allometric models and better cal/val, resulting in improved regional and global estimates of AGB from space, with better-characterised, lower uncertainties. The development of new, improved equipment and methods will accelerate this process and make TLS more accessible

Developing Allometric Equations for Teak Plantations Located in the Coastal Region of Ecuador from Terrestrial Laser Scanning Data

Traditional studies aimed at developing allometric models to estimate dry above-ground biomass (AGB) and other tree-level variables, such as tree stem commercial volume (TSCV) or tree stem volume (TSV), usually involves cutting down the trees. Although this method has low uncertainty, it is quite costly and inefficient since it requires a very time-consuming field work. In order to assist in data collection and processing, remote sensing is allowing the application of non-destructive sampling methods such as that based on terrestrial laser scanning (TLS). In this work, TLS-derived point clouds were used to digitally reconstruct the tree stem of a set of teak trees (Tectona grandis Linn. F.) from 58 circular reference plots of 18 m radius belonging to three different plantations located in the Coastal Region of Ecuador. After manually selecting the appropriate trees from the entire sample, semi-automatic data processing was performed to provide measurements of TSCV and TSV, together with estimates of AGB values at tree level. These observed values were used to develop allometric models, based on diameter at breast height (DBH), total tree height (h), or the metric DBH2 × h, by applying a robust regression method to remove likely outliers. Results showed that the developed allometric models performed reasonably well, especially those based on the metric DBH2 × h, providing low bias estimates and relative RMSE values of 21.60% and 16.41% for TSCV and TSV, respectively. Allometric models only based on tree height were derived from replacing DBH by h in the expression DBH2 x h, according to adjusted expressions depending on DBH classes (ranges of DBH). This finding can facilitate the obtaining of variables such as AGB (carbon stock) and commercial volume of wood over teak plantations in the Coastal Region of Ecuador from only knowing the tree height, constituting a promising method to address large-scale teak plantations monitoring from the canopy height models derived from digital aerial stereophotogrammetry

TLS2trees: A scalable tree segmentation pipeline for TLS data

1. Above-ground biomass (AGB) is an important metric used to quantify the mass of carbon stored in terrestrial ecosystems. For forests, this is routinely estimated at the plot scale (typically 1 ha) using inventory measurements and allometry. In recent years, terrestrial laser scanning (TLS) has appeared as a disruptive technology that can generate a more accurate assessment of tree and plot scale AGB; however, operationalising TLS methods has had to overcome a number of challenges. One such challenge is the segmentation of individual trees from plot level point clouds that are required to estimate woody volume, this is often done manually (e.g. with interactive point cloud editing software) and can be very time consuming. / 2. Here we present TLS2trees, an automated processing pipeline and set of Python command line tools that aims to redress this processing bottleneck. TLS2trees consists of existing and new methods and is specifically designed to be horizontally scalable. The processing pipeline is demonstrated on 7.5 ha of TLS data captured across 10 plots of seven forest types; from open savanna to dense tropical rainforest. / 3. A total of 10,557 trees are segmented with TLS2trees: these are compared to 1281 manually segmented trees. Results indicate that TLS2trees performs well, particularly for larger trees (i.e. the cohort of largest trees that comprise 50% of total plot volume), where plot-wise tree volume bias is ±0.4 m3 and %RMSE is 60%. Segmentation performance decreases for smaller trees, for example where DBH ≤10 cm; a number of reasons are suggested including performance of semantic segmentation step. / 4. The volume and scale of TLS data captured in forest plots is increasing. It is suggested that to fully utilise this data for activities such as monitoring, reporting and verification or as reference data for satellite missions an automated processing pipeline, such as TLS2trees, is required. To facilitate improvements to TLS2trees, as well as modification for other laser scanning modes (e.g. mobile and UAV laser scanning), TLS2trees is a free and open-source software

The Burning Bush: Linking LiDAR-derived Shrub Architecture to Flammability

Light detection and ranging (LiDAR) and terrestrial laser scanning (TLS) sensors are powerful tools for characterizing vegetation structure and for constructing three-dimensional (3D) models of trees, also known as quantitative structural models (QSM). 3D models and structural traits derived from them provide valuable information for biodiversity conservation, forest management, and fire behavior modeling. However, vegetation studies and 3D modeling methodologies often only focus on the forest canopy, with little attention given to understory vegetation. In particular, 3D structural information of shrubs is limited or not included in fire behavior models. Yet, understory vegetation is an important component of forested ecosystems, and has an essential role in determining fire behavior. In this dissertation, I explored the use of TLS data and quantitative structure models to model shrub architecture in three related studies. In the first study, I present a semi-automated methodology for reconstructing architecturally different shrubs from TLS LiDAR. By investigating shrubs with different architectures and point cloud densities, I showed that occlusion, shrub complexity, and shape greatly affect the accuracy of shrub models. In my second study, I assessed the 3D architectural drivers of understory flammability by evaluating the use of architectural metrics derived from the TLS point cloud and 3D reconstructions of the shrubs. I focused on eight species common in the understory of the fire-prone longleaf pine forest ecosystem of the state of Florida, USA. I found a general tendency for each species to be associated with a unique combination of flammability and architectural traits. Novel shrub architectural traits were found to be complementary to the direct use of TLS data and improved flammability predictions. The inherent complexity of shrub architecture and uncertainty in the TLS point cloud make scaling up from an individual shrub to a plot level a challenging task. Therefore, in my third study, I explored the effects of lidar uncertainty on vegetation parameter prediction accuracy. I developed a practical workflow to create synthetic forest stands with varying densities, which were subsequently scanned with simulated terrestrial lidar. This provided data sets quantitatively similar to those created by real-world LiDAR measurements, but with the advantage of exact knowledge of the forest plot parameters, The results showed that the lidar scan location had a large effect on prediction accuracy. Furthermore, occlusion is strongly related to the sampling density and plot complexity. The results of this study illustrate the potential of non-destructive lidar approaches for quantifying shrub architectural traits. TLS, empirical quantitative structural models, and synthetic models provide valuable insights into shrub structure and fire behavior