A review of Sensors, Sensor-Platforms and Methods Used in 3D Modelling of Soil Displacement after Timber Harvesting

Proximal sensing technologies are becoming widely used across a range of applications in environmental sciences. One of these applications is in the measurement of the ground surface in describing soil displacement impacts from wheeled and tracked machinery in the forest. Within a period of 2–3 years, the use photogrammetry, LiDAR, ultrasound and time-of-flight imaging based methods have been demonstrated in both experimental and operational settings. This review provides insight into the aims, sampling design, data capture and processing, and outcomes of papers dealing specifically with proximal sensing of soil displacement resulting from timber harvesting. The work reviewed includes examples of sensors mounted on tripods and rigs, on personal platforms including handheld and backpack mounted, on mobile platforms constituted by forwarders and skidders, as well as on unmanned aerial vehicles (UAVs). The review further highlights and discusses the benefits, challenges, and some of the shortcomings of the various technologies and their application as interpreted by the authors. The majority of the work reviewed reflects pioneering approaches and innovative applications of the technologies. The studies have been carried out almost simultaneously, building on little or no common experience, and the evolution of standardized methods is not yet fully apparent. Some of the issues that will likely need to be addressed in developing this field are (i) the tendency toward generating apparently excessively high resolution micro-topography models without demonstrating the need for or contribution of such resolutions on accuracy, (ii) the inadequacy of conventional manual measurements in verifying the accuracy of these methods at such high resolutions, and (iii) the lack of a common protocol for planning, carrying out, and reporting this type of study

Prediction and model-assisted estimation of diameter distributions using Norwegian national forest inventory and airborne laser scanning data

Diameter at breast height (DBH) distributions offer valuable information for operational and strategic forest management decisions. We predicted DBH distributions using Norwegian national forest inventory and airborne laser scanning data and compared the predictive performances of linear mixed-effects (PPM), generalized linear-mixed (GLM) and k nearest neighbor (NN) models. While GLM resulted in smaller prediction errors than PPM, both were clearly outperformed by NN. We therefore studied the ability of the NN model to improve the precision of stem frequency estimates by DBH classes in the 8.7 Mha study area using a model-assisted (MA) estimator suitable for systematic sampling. MA estimates yielded greater than or approximately equal efficiencies as direct estimates using field data only. The relative efficiencies (REs) associated with the MA estimates ranged between 0.95-1.47 and 0.96-1.67 for 2 and 6 cm DBH class widths, respectively, when dominant tree species were assumed to be known. The use of a predicted tree species map, instead of the observed information, decreased the REs by up to 10%.Comment: Accepted preprint; Canadian Journal of Forest Researc

Comparison of forest attributes derived from two terrestrial lidar systems.

Abstract Terrestrial lidar (TLS) is an emerging technology for deriving forest attributes, including conventional inventory and canopy characterizations. However, little is known about the influence of scanner specifications on derived forest parameters. We compared two TLS systems at two sites in British Columbia. Common scanning benchmarks and identical algorithms were used to obtain estimates of tree diameter, position, and canopy characteristics. Visualization of range images and point clouds showed clear differences, even though both scanners were relatively high-resolution instruments. These translated into quantifiable differences in impulse penetration, characterization of stems and crowns far from the scan location, and gap fraction. Differences between scanners in estimates of effective plant area index were greater than differences between sites. Both scanners provided a detailed digital model of forest structure, and gross structural characterizations (including crown dimensions and position) were relatively robust; but comparison of canopy density metrics may require consideration of scanner attributes

Mapping forest age using National Forest Inventory, airborne laser scanning, and Sentinel-2 data

The age of forest stands is critical information for many aspects of forest management and conservation but area-wide information about forest stand age often does not exist. In this study, we developed regression models for large-scale area-wide prediction of age in Norwegian forests. For model development we used more than 4800 plots of the Norwegian National Forest Inventory (NFI) distributed over Norway between 58{\deg} and 65{\deg} northern latitude in a 181,773 km2 study area. Predictor variables were based on airborne laser scanning (ALS), Sentinel-2, and existing public map data. We performed model validation on an independent data set consisting of 63 spruce stands with known age. The best modelling strategy was to fit independent linear regression models to each observed site index (SI) level and using a SI prediction map in the application of the models. The most important predictor variable was an upper percentile of the ALS heights, and root-mean-squared-errors (RMSE) ranged between 3 and 31 years (6% to 26%) for SI-specific models, and 21 years (25%) on average. Mean deviance (MD) ranged between -1 and 3 years. The models improved with increasing SI and the RMSE were largest for low SI stands older than 100 years. Using a mapped SI, which is required for practical applications, RMSE and MD on plot-level ranged from 19 to 56 years (29% to 53%), and 5 to 37 years (5% to 31%), respectively. For the validation stands, the RMSE and MD were 12 (22%) and 2 years (3%). Tree height estimated from airborne laser scanning and predicted site index were the most important variables in the models describing age. Overall, we obtained good results, especially for stands with high SI, that could be considered for practical applications but see considerable potential for improvements, if better SI maps were available

Mapping forests using an unmanned ground vehicle with 3D LiDAR and graph-SLAM

Enabling automated 3D mapping in forests is an important component of the future development of forest technology, and has been garnering interest in the scientific community, as can be seen from the many recent publications. Accordingly, the authors of the present paper propose the use of a Simultaneous Localisation and Mapping algorithm, called graph-SLAM, to generate local maps of forests. In their study, the 3D data required for the mapping process were collected using a custom-made, mobile platform equipped with a number of sensors, including Velodyne VLP-16 LiDAR, a stereo camera, an IMU, and a GPS. The 3D map was generated solely from laser scans, first by relying on laser odometry and then by improving it with robust graph optimisation after loop closures, which is the core of the graph-SLAM algorithm. The resulting map, in the form of a 3D point cloud, was then evaluated in terms of its accuracy and precision. Specifically, the accuracy of the fitted diameter at breast height (DBH) and the relative distance between the trees were evaluated. The results show that the DBH estimates using the Pratt circle fit method could enable a mean estimation error of approximately 2 cm (7–12%) and an RMSE of 2.38 cm (9%), whereas for tree positioning accuracy, the mean error was 0.0476 m. The authors conclude that robust SLAM algorithms can support the development of forestry by providing cost-effective and acceptable quality methods for forest mapping. Moreover, such maps open up the possibility for precision localisation for forestry vehicles.publishedVersio

Building a high-resolution site index map using boosted regression trees: The Norwegian case

Accurate estimation of site productivity is essential for forest projections and scenario modelling. We present and evaluate models to predict site index (SI) and whether a site is productive (potential total stem volume production ≥ 1 m3·ha−1·year−1) in a wall-to-wall high-resolution (16 m × 16 m) SI map for Norway. We investigate whether remotely sensed data improve predictions. We also study the advantages and disadvantages of using boosted regression trees (BRT), a machine-learning algorithm, to create high-accuracy SI maps. We use climatic and topographical data, soil parent material, a land resource map, and depth to water, together with Sentinel-2 satellite images and airborne laser scanning metrics, as predictor variables. We use the SI observed at more than 10 000 National Forest Inventory (NFI) sample plots throughout Norway to fit BRT models and validate the models using 5822 independent temporary plots from the NFI. We benchmark our results against SI estimates from forest monitoring inventories. We find that the SI from BRT has root mean squared error (RMSE) ranging from 2.3 m (hardwoods) to 3.6 m (spruce) when tested against independent validation data from the NFI temporary plots. These RMSEs are similar or marginally better than an evaluation of SI estimates from operational forest management plans where SI normally stems from manual photo interpretation.publishedVersio

Depth-to-water maps as predictors of rut severity in fully mechanized harvesting operations

The preservation of the functionality of forest soil is a key aspect in planning mechanized harvesting operations. Therefore, knowledge and information about stand and soil characteristics are vital to the planning process. In this respect, depth-to-water (DTW) maps were reviewed with regard to their potential use as a prediction tool for wheel ruts. To test the applicability of open source DTW maps for prediction of rutting, the ground surface conditions of 20 clear-cut sites were recorded post harvesting, using an unmanned aerial vehicle (UAV). In total, 80 km of machine tracks were categorized by the severity of occurring rut-formations to investigate whether: i) operators intuitively avoid areas with low DTW values, ii) a correlation exists between decreasing DTW values and increasing rut severity, and iii) DTW maps can serve as reliable decision-making tool in minimizing the environmental effects of big machinery deployment. While the machine operators did not have access to these predictions (DTW maps) during the operations, there was no visual evidence that driving through these areas was actively avoided, resulting in a higher density of severe rutting within areas with DTW values <1 m. A logistic regression analysis confirmed that the probability of severe rutting rapidly increases with decreasing DTW values. However, significant differences between sites exist which might be attributed to a series of other factors such as soil type, weather conditions, number of passes and load capacity. Monitoring these factors is hence highly recommended in any further follow-up studies on soil trafficability.publishedVersio

An analysis of stand-level size distributions of decay-affected Norway spruce trees based on harvester data

We studied size distributions of decay-affected Norway spruce trees using cut-to-length harvester data. The harvester data comprised tree-level decay and decay severity recordings from 101 final felling stands, which enabled to analyze relationships between size distributions of all and decay-affected trees. Distribution matching technique was used to transfer the size distribution of all trees into the diameter at breast height (DBH) distribution of decay-affected trees.publishedVersio

Forest Sciences Project Y09-2200: Assessing ecosystem vulnerability to climate change from the tree- to stand-to landscape-level The influence of disturbance type, competition and resource availability on species response to climate change in northwest Br

Abstract The incorporation of dynamics and disturbance is important for understanding the impacts of climate change on species response. In this study we investigated the biotic interactions (competition) between species, the influence of disturbance type, and changes in resource availability (moisture, substrate, and light) on the response of four tree species to climate change in the northwest region of the sub-boreal forest in central British Columbia, Canada. Two ecological models were parameterised using field data and linked together to explore the interactions between the response of species in their fundamental regeneration niche to climate change and the role of disturbance, resource availability and competition on determining a species realised niche under climate change. Climate change was found to reduce soil moisture availability which resulted in a decline in regeneration potential for all species on dry sites and negative to neutral responses on mesic to moist sites. Stand dynamics and composition where predicted to undergo significant changes under the 2080s climate compared to current climate conditions. Species response was exacerbated following fire particularly on dry to mesic sites with lower intensity bark beetle disturbances mediating the response of the ecosystems Picea and Abies species. Site type also had an influence in interaction with disturbance type with the site with the highest moisture availability maintaining the same stand dynamics and composition following bark beetle disturbances under climate change. This study highlights the need to consider species response to climate change in interaction with existing stand conditions, disturbance type, competition, resource availability, not just climate