Estimation of LAI and fractional cover from small footprint airborne laser scanning data based on gap fraction

We evaluate the potential of deriving fractional cover (fCover) and leaf area index (LAI) from discrete return, small footprint airborne laser scanning (ALS) data. fCover was computed as the fraction of laser vegetation hits over the number of total laser echoes per unit area. Analogous to the concept of contact frequency, an effective LAI proxy was estimated by a fraction of first and last echo types inside the canopy. Validation was carried out using 83 hemispherical photographs georeferenced to centimeter accuracy by differential GPS, for which the respective gap fractions were computed over a range of zenith angles using the Gap Light Analyzer (GLA). LAI was computed by GLA from gap fraction estimations at zenith angles of 0-60°. For ALS data, different data trap sizes were used to compute fCover and LAI proxy, the range of radii was 2-25 m. For fCover, a data trap size of 2 m radius was used, whereas for LAI a radius of 15 m provided best results. fCover was estimated both from first and last echo data, with first echo data overestimating field fCover and last echo data underestimating field fCover. A multiple regression of fCover derived from both echo types with field fCover showed no increase of R² compared to the regression of first echo data, and thus, we only used first echo data for fCover estimation. R² for the fCover regression was 0.73, with an RMSE of 0.18. For the ALS LAI proxy, R² was lower, at 0.69, while the RMSE was 0.01. For LAI larger radii (∼ 15 m ) provided best results for our canopy types, which is due to the importance of a larger range of zenith angles (0-60°) in LAI estimation from hemispherical photographs. Based on the regression results, maps of fCover and LAI were computed for our study area and compared qualitatively to equivalent maps based on imaging spectrometry, revealing similar spatial patterns and ranges of values.     

Estimation of above- and below-ground biomass across regions of the boreal forest zone using airborne laser

Regression models relating variables derived from airborne laser scanning (ALS) to above-ground and below-ground biomass were estimated for 1395 sample plots in young and mature coniferous forest located in ten different areas within the boreal forest zone of Norway. The sample plots were measured as part of large-scale operational forest inventories. Four different ALS instruments were used and point density varied from 0.7 to 1.2 m^− 2. One variable related to canopy height and one related to canopy density were used as independent variables in the regressions. The statistical effects of area and age class were assessed by including dummy variables in the models. Tree species composition was treated as continuous variables. The proportion of explained variability was 88% for above- and 85% for below-ground biomass models. For given combinations of ALS-derived variables, the differences between the areas were up to 32% for above-ground biomass and 38% for below-ground biomass. The proportion of spruce had a significant impact on both the estimated models. The proportion of broadleaves had a significant effect on above-ground biomass only, while the effect of age class was significant only in the below-ground biomass model. Because of local effects on the biomass-ALS data relationships, it is indicated by this study that sample plots distributed over the entire area would be needed when using ALS for regional or national biomass monitoring.     

Classifying species of individual trees by intensity and structure features derived from airborne laser scanner data

The objective of this study was to identify candidate features derived from airborne laser scanner (ALS) data suitable to discriminate between coniferous and deciduous tree species. Both features related to structure and intensity were considered. The study was conducted on 197 Norway spruce and 180 birch trees (leaves on conditions) in a boreal forest reserve in Norway. The ALS sensor used was capable of recording multiple echoes. The point density was 6.6 m^− 2. Laser echoes located within the vertical projection of the tree crowns, which were assumed to be circular and defined according to field measurements, were attributed to three categories: “first echoes of many”, “single echoes”, or “last echoes of many echoes”. They were denoted FIRST, SINGLE, and LAST, respectively. In tree species classification using ALS data features should be independent of tree heights. We found that many features were dependent on tree height and that this dependency influenced selection of candidate features. When we accounted for this dependency, it was revealed that FIRST and SINGLE echoes were located higher and LAST echoes lower in the birch crowns than in spruce crowns. The intensity features of the FIRST echoes differed more between species than corresponding features of the other echo categories. For the FIRST echoes the intensity values tended to be higher for birch than spruce. When using the various features for species classification, maximum overall classification accuracies of 77% and 73% were obtained for structural and intensity features, respectively. Combining candidate features related to structure and intensity resulted in an overall classification accuracy of 88%.     

Modeling airborne laser scanning data for the spatial generation of critical forest parameters in fire behavior modeling

Methods for using airborne laser scanning (also called airborne LIDAR) to retrieve forest parameters that are critical for fire behavior modeling are presented. A model for the automatic extraction of forest information is demonstrated to provide spatial coverage of the study area, making it possible to produce 3-D inputs to improve fire behavior models.The Toposys I airborne laser system recorded the last return of each footprint (0.30-0.38 m) over a 2000 m by 190 m flight line. Raw data were transformed into height above the surface, eliminating the effect of terrain on vegetation height and allowing separation of ground surface and crown heights. Data were defined as ground elevation if heights were less than 0.6 m. A cluster analysis was used to discriminate crown base height, allowing identification of both tree and understory canopy heights. Tree height was defined as the 99 percentile of the tree crown height group, while crown base height was the 1 percentile of the tree crown height group. Tree cover (TC) was estimated from the fraction of total tree laser hits relative to the total number of laser hits. Surface canopy (SC) height was computed as the 99 percentile of the surface canopy group. Surface canopy cover is equal to the fraction of total surface canopy hits relative to the total number of hits, once the canopy height profile (CHP) was corrected. Crown bulk density (CBD) was obtained from foliage biomass (FB) estimate and crown volume (CV), using an empirical equation for foliage biomass. Crown volume was estimated as the crown area times the crown height after a correction for mean canopy cover.     

Prediction of species specific forest inventory attributes using a nonparametric semi-individual tree crown approach based on fused airborne laser scanning and multispectral data

While forest inventories based on airborne laser scanning data (ALS) using the area based approach (ABA) have reached operational status, methods using the individual tree crown approach (ITC) have basically remained a research issue. One of the main obstacles for operational applications of ITC is biased results often experienced due to segmentation errors. In this article, we propose a new method, called “semi-ITC” that overcomes the main problems related to ITC by imputing ground truth data within crown segments from the nearest neighboring segment. This may be none, one, or several trees. The distances between segments were derived based on a set of explanatory variables using two nonparametric methods, i.e., most similar neighbor inference (MSN) and random forest (RF). RF favored the imputation of common observations in the data set which resulted in significant biases. Main conclusions are therefore based on MSN. The explanatory variables were calculated by means of small footprint ALS and multispectral data. When testing with empirical data the new method compared favorably to the well-known ABA. Another advantage of the new method over the ABA is that it allowed for the modeling of rare tree species. The results of predicting timber volume with the semi-ITC method were unbiased and the root mean squared error (RMSE) on plot level was smaller than the standard deviation of the observed response variables. The relative RMSEs after cross validation using semi-ITC for total volume and volume of the individual species pine, spruce, birch, and aspen on plot level were 17, 38, 40, 101, and 222%, respectively. Due to the unbiasedness of the estimation, this study is a showcase for how to use crown segments resulting from ITC algorithms in a forest inventory context.     

Effects of different sensors and leaf-on and leaf-off canopy conditions on echo distributions and individual tree properties derived from airborne laser scanning

The objectives of this study were to quantify and analyze differences in laser height and laser intensity distributions of individual trees obtained from airborne laser scanner (ALS) data for different canopy conditions (leaf-on vs. leaf-off) and sensors. It was also assessed how estimated tree height, stem diameter, and tree species were influenced by these differences. The study was based on 412 trees from a boreal forest reserve in Norway. Three different ALS acquisitions were carried out. Leaf-on and leaf-off data were acquired with the Optech ALTM 3100 sensor, and an additional leaf-on dataset was acquired using the Optech ALTM 1233 sensor. Laser echoes located within the vertical projection of the tree crowns were attributed to different echo categories (“first echoes of many”, “single echoes”, “last echoes of many”) and analyzed. The most pronounced changes in laser height distribution from leaf-on to leaf-off were found for the echo categories denoted as “single” and “last echoes of many” where the distributions were shifted towards the ground under leaf-off conditions. The most pronounced change in the intensity distribution was found for “first echoes of many” where the distribution was extremely skewed towards the lower values under leaf-off conditions compared to leaf-on. Furthermore, the echo height and intensity distributions obtained for the two different sensors also differed significantly. Individual tree properties were estimated fairly accurately in all acquisitions with RMSE ranging from 0.76 to 0.84 m for tree height and from 3.10 to 3.17 cm for stem diameter. It was revealed that tree species was an important model term in both and tree height and stem diameter models. A significantly higher overall accuracy of tree species classification was obtained using the leaf-off acquisition (90 vs. 98%) whereas classification accuracy did not differ much between sensors (90 vs. 93%).     

Effects of different flying altitudes on biophysical stand properties estimated from canopy height and density measured with a small-footprint airborne scanning laser

Canopy height distributions were created from small-footprint airborne laser scanner data collected over 133 georeferenced field sample plots and 56 forest stands located in young and mature forest. The plot size was 300-400 m² and the average stand size was 1.7 ha. Spruce and pine were the dominant tree species. Canopy height distributions were created from both first and last pulse data. The laser data were acquired from two different flying altitudes, i.e., 530-540 and 840-850 m above ground. Height percentiles, mean and maximum height values, coefficients of variation of the heights, and canopy density at different height intervals above the ground were computed from the laser-derived canopy height distributions. Corresponding metrics derived from the two different flying altitudes were compared. Only 1 of 54 metrics derived from the first pulse data differed significantly between flying altitudes. For the last pulse data, the mean values of the height percentiles were up to 50 cm higher than the corresponding values of the low-altitude data. The high-altitude data yielded significantly higher values for most of the canopy density measures. The standard deviation for the differences between high and low flying altitude for each of the metrics was estimated. The standard deviations for the height percentiles ranged from 0.07 to 0.30 cm in the forest stands, indicating a large degree of stability between repeated flight overpasses.The effect of variable flying altitude on mean tree height (h_L), stand basal area (G), and stand volume (V) estimated from the laser-derived height and density measures using a two-stage inventory procedure was assessed by randomly combining laser data from the two flying altitudes for each individual sample plot and forest stand. The sample plots were used as training data to calibrate the models. The random assignment was repeated 10,000 times. The results of the 10,000 trials indicated that the precision of the estimated values of h_L, G, and V was robust against alterations in flying altitude.     

Characterizing forest ecological structure using pulse types and heights of airborne laser scanning

Characterizing forest structure is an important part of any comprehensive biodiversity assessment. However, current methods for measuring structural complexity require a laborious process that involves many logistically expensive point based measurements. An automated or semi-automated method would be ideal. In this study, the utility of airborne laser scanning (LiDAR; Light Detection and Ranging) for characterizing the ecological structure of a forest landscape is examined. The innovation of this paper is to use different laser pulse return properties from a full waveform LiDAR to characterize forest ecological structure. First the LiDAR dataset is stratified into four vertical layers: ground, low vegetation (0-1 m from the ground), medium vegetation (1-5 m from the ground) and high vegetation (> 5 m). Subsequently the “Type” of LiDAR return is analysed: Type 1 (singular returns); Type 2 (first of many returns); Type 3 (intermediate returns); and Type 4 (last of many returns). A forest characterization scheme derived from LiDAR point clouds is proposed. A validation of the scheme is then presented using a network of field sites that recorded commonly used metrics of biodiversity. The proposed forest characterization categories allow for quantification of gaps (above bare ground, low vegetation and medium vegetation), canopy cover and its vertical density as well as the presence of various canopy strata (low, medium and high). Regression analysis showed that LiDAR derived variables were good predictors of field recorded variables (R² = 0.82, P < 0.05 between LiDAR derived presence of low vegetation and field derived LAI for low vegetation). The proposed scheme clearly shows the potential of full waveform LiDAR to provide information on the complexity of habitat structure.     

Providing real-estate services through the integration of 3D laser scanning and building information modelling

There is an opportunity for real-estate services sector to deliver more accurate, faster and quality building surveys and information models. This paper reports on a study, designed to establish automated procedures for the development of a digital model to assist in faster and better services and delivery of real-estate services by integrating 3D laser scanning and BIM technology. It proposes an intuitive and interactive building model that is easy to query and navigate, and thus support property developers, buyers and sellers in the property sales sector. An outline of the new approach is provided to illustrate the benefits of the proposed method to the real-estate services sector. The key arguments in the paper are consolidated by the results of a qualitative study amongst real-estate professionals, which sought to determine the added value of BIM-3D laser scanning in comparison to conventional building surveying and Computer Aided Design (CAD) methods.     

基于兴趣边缘优化的壁画影像与激光扫描数据非刚性配准

将壁画影像与激光扫描数据配准,并进行定位和纠正在壁画的数字化保护中有非常重要的意义.本文以激光扫描数据强度信息为中介,提出了一种基于兴趣边缘优化的壁画影像与激光扫描数据的非刚性配准方法:由激光扫描数据生成强度影像,以壁画彩色影像的兴趣边缘和强度影像的梯度场作为配准基元,在影像刚性配准基础上,对每条兴趣边缘进行优化配准,然后以优化后边缘的特征点为控制点,构造影像之间的非刚性变换模型,完成壁画影像与激光扫描数据的配准.实验结果表明本方法在不同数据中都能获得较高的配准精度.     

Non-rigid registration of mural images and laser scanning data based on the optimization of the edges of interest

The orientation and correction of mural images by registering them with laser scanning data is critical for the digital protection of ancient murals.This paper proposes a method for the non-rigid registration of mural images and laser scanning data based on the optimization of the edge of interest by using laser echo intensity information as an intermediary.First,the intensity image was generated from the laser echo intensity information,and registered with the mural image using a rigid transformation model.Second,the edges of interest in the mural image and the gradient field of the intensity images were processed as registration primitives.Third,every edge of interest was registered with the optimization base used in the rigid registration of the mural image and intensity image.Finally,the registration was completed after a non-rigid transformation model between these two images was constructed using the control points on the optimized edges.Our experimental results show that the proposed method can obtain high registration accuracy for different data sets.     

激光扫描车身坐标测量数据采集系统的设计

设计了一个基于4光束激光扫描和特征靶标的汽车车身关键点尺寸的三维测量系统。对测量系统中数据采集与处理部分的实现过程作了详细的介绍。此数据采集和处理模块解决了当多路信号同时到达时,如何将数据完整地写入FIFO的关键问题,实现了数据的有效采集。最后给出了数据采集与处理部分的完整的程序流程图。     

A method for modeling and quantifying the security attributes of intrusion tolerant systems

Complex software and network based information server systems may exhibit failures. Quite often, such failures may not be accidental. Instead some failures may be caused by deliberate security intrusions with the intent ranging from simple mischief, theft of confidential information to loss of crucial and possibly life saving services. Not only it is important to prevent and/or tolerate security intrusions, it is equally important to treat security as a QoS attribute at par with other QoS attributes such as availability and performance. This paper deals with various issues related to quantifying the security attributes of an intrusion tolerant system, such as the SITAR system. A security intrusion and the response of an intrusion tolerant system to an attack is modeled as a random process. This facilitates the use of stochastic modeling techniques to capture the attacker behavior as well as the system’s response to a security intrusion. This model is used to analyze and quantify the security attributes of the system. The security quantification analysis is first carried out for steady-state behavior leading to measures like steady-state availability. By transforming this model to a model with absorbing states, we compute a security measure called the “mean time (or effort) to security failure” (MTTSF) and also compute probabilities of security failure due to violations of different security attributes.     

Automatic detection of harvested trees and determination of forest growth using airborne laser scanning

This paper demonstrates the applicability of small footprint, high sampling density airborne laser scanners for boreal forest change detection, i.e. the estimation of forest growth and monitoring of harvested trees. Two laser acquisitions were carried out on a test site using a Toposys-1 laser scanner. Three-dimensional canopy height models were calculated for both data sets using raster-based algorithms. Object-oriented algorithms were developed for detecting harvested and fallen trees, and for measuring forest growth at plot and stand levels. Out of 83 field-checked harvested trees, 61 could be automatically and correctly detected. All mature harvested trees were detected; it was mainly the smaller trees that were not. Forest growth was demonstrated at plot and stand levels using an object-oriented tree-to-tree matching algorithm and statistical analysis. The precision of the estimated growth, based on field checking or statistical analysis, was about 5 cm at stand level and about 10–15 cm at plot level. The authors expect that the methods may be feasible in large area forest inventories that make use of permanent sample plots. Together with methods for detecting individual sample trees, the methods described may be used to replace a large number of permanent plots with laser scanning techniques.     

Imputation of single-tree attributes using airborne laser scanning-based height, intensity, and alpha shape metrics

Forest inventories based on single-tree interpretation of airborne laser scanning (ALS) data often rely on an allometric estimation chain in which inaccuracies in the estimates of the diameter at breast height (DBH) propagate to other characteristics of interest such as the stem volume. Our purpose was to test nearest neighbor imputation by the k-Most Similar Neighbor (k-MSN) and the Random Forest (RF) methods for the simultaneous estimation of species, DBH, height and stem volume using ALS data. The predictors included computational alpha shape metrics and variables based on the height and intensity distributions in the ALS data. Separate data sets covering 1898 and 1249 dominant to intermediate trees in a typical Scandinavian stand structure were used for training and validation, respectively. RF proved to be a flexible method with an ability to handle 1846 predictors with no need for their reduction. Classification of Scots pine, Norway spruce and deciduous trees showed an accuracy of 78%, and the estimates of DBH, height and volume had root mean square errors of 13%, 3%, and 31%, respectively, when evaluated against the validation data. The two selection strategies implemented here reduced the number of candidate variables effectively without any substantial effect on the accuracy relative to the use of all predictors. Differences in k-MSN and RF imputations were marginal when the reduced sets of variables were used. Estimation accuracies could be maintained practically unchanged with only 12.5% of the initial reference data (237 trees), provided the distribution of the observations was similar in the reference and target data. Since we used information collected in the field for extracting the ALS point clouds for individual trees, our results represent an optimal case and should nevertheless be validated against automated tree delineation.     

Simulated impact of sample plot size and co-registration error on the accuracy and uncertainty of LiDAR-derived estimates of forest stand biomass

Regression has been widely applied in Light Detection And Ranging (LiDAR) remote sensing to spatially extend predictions of total aboveground biomass (TAGB) and other biophysical properties over large forested areas. Sample (field) plot size has long been considered a key sampling design parameter and focal point for optimization in forest surveys, because of its impact on sampling effort and the estimation accuracy of forest inventory attributes. In this study, we demonstrate how plot size and co-registration error interact to influence the estimation of LiDAR canopy height and density metrics, regression model coefficients, and the prediction accuracy of least-squares estimators of TAGB. We made use of simulated forest canopies and synthetic LiDAR point clouds, so that we could maintain strict control over the spatial scale and complexity of forest scenes, as well as the magnitude and type of planimetric error inherent in ground-reference and LiDAR datasets. Our results showed that predictions of TAGB improved markedly as plot size increased from 314 (10 m radius) to 1964 m² (25 m radius). The co-registration error (spatial overlap) between ground-reference and LiDAR samples negatively impacted the estimation of LiDAR metrics, regression model fit, and the prediction accuracy of TAGB. We found that larger plots maintained a higher degree of spatial overlap between ground-reference and LiDAR datasets for any given GPS error, and were therefore more resilient to the ill effects of co-registration error compared to small plots. The impact of co-registration error was more pronounced in tall, spatially heterogeneous stands than short, homogeneous stands. We identify and briefly discuss three possible ways that LiDAR data could be used to optimize plot size, sample selection, and the deployment of GPS resources in forest biomass surveys.     

A first assessment of the SMOS data in southwestern France using in situ and airborne soil moisture estimates: The CAROLS airborne campaign

The Soil Moisture and Ocean Salinity (SMOS) satellite mission, based on an aperture synthesis L-band radiometer was successfully launched in November 2009. In the context of a validation campaign for the SMOS mission, intensive airborne and in situ observations were performed in southwestern France for the SMOS CAL/VAL, from April to May 2009 and from April to July 2010. The CAROLS (Cooperative Airborne Radiometer for Ocean and Land Studies) bi-angular (34°-0°) and dual-polarized (V and H) L-band radiometer was designed, built and installed on board the French ATR-42 research aircraft. During springs of 2009 and 2010, soil moisture observations from the SMOSMANIA (Soil Moisture Observing System-Meteorological Automatic Network Integrated Application) network of Météo-France were complemented by airborne observations of the CAROLS L-band radiometer, following an Atlantic-Mediterranean transect in southwestern France. Additionally to the 12 stations of the SMOSMANIA soil moisture network, in situ measurements were collected in three specific sites within an area representative of a SMOS pixel. Microwave radiometer observations, acquired over southwestern France by the CAROLS instrument were analyzed in order to assess their sensitivity to surface soil moisture (w_g). A combination of microwave brightness temperature (T_b) at either two polarizations or two contrasting incidence angles was used to retrieve w_g through regressed empirical logarithmic equations with good results, depending on the chosen configuration. The regressions derived from the CAROLS measurements were applied to the SMOS T_b and their retrieval performance was evaluated. The retrievals of w_g showed significant correlation (p-value < 0.05) with surface measurements for most of the SMOSMANIA stations (8 of 12 stations) and with additional field measurements at two specific sites, also. Root mean square errors varied from 0.03 to 0.09 m³ m^− 3 (0.06 m³ m^− 3 on average).     

Evaluation of LANDSAT and airborne multispectral data and aerial photographs for mapping forest features and phenomena in a part of the Godavari basin

The automatic interpretation of multispectral digital data obtained from LANDSAT as well as from an airborne multispectral scanner using an interactive computer system and visual interpretation of colour composites of LANDSAT imagery and aerial photographs of a dry deciduous forest tract were used for evaluating the discrimination capabilities of each technique and for comparative evaluation. While visual interpretation of LANDSAT imagery could give only general information, such as contiguity of vegetation cover, digital analysis of the same yielded more detailed information, such as teak-bearing and non-teak-bearing regions. The analysis of airborne multispectral data, in the present state of the art, for performing forest surveys and making maps is limited. Aerial photographs are very useful for mapping forest land features and stock, which can be done more reliably than could be done by ground surveys. Infrared photographs show better promise in mapping forest features. The integration of multitemporal data and the incorporation of digitized additional information into the data stream for the improvement of digital analysis are suggested. Acquisition of data including aerial photographs for general surveys during a period prior to leaf fall in a deciduous forest is also recommended.     

Effects of different sensors, flying altitudes, and pulse repetition frequencies on forest canopy metrics and biophysical stand properties derived from small-footprint airborne laser data

Canopy height distributions were created from small-footprint airborne laser scanner (ALS) data collected over 40 field sample plots with size 1000 m² located in mature conifer forest. ALS data were collected with two different instruments, i.e., the ALTM 1233 and ALTM 3100 laser scanners (Optech Inc.). The ALTM 1233 data were acquired at a flying altitude of 1200 m and a pulse repetition frequency (PRF) of 33 kHz. Three different acquisitions were carried out with ALTM 3100, i.e., (1) a flying altitude of 1100 m and a PRF of 50 kHz, (2) a flying altitude of 1100 m and a PRF of 100 kHz, and (3) a flying altitude of 2000 m and a PRF of 50 kHz. Height percentiles, mean and maximum height values, coefficients of variation of the heights, and canopy density at different height intervals above the ground were derived from the four different ALS datasets and for single + first and last echoes of the ALS data separately. The ALS-derived height- and density variables were assessed in pair-wise comparisons to evaluate the effects of (a) instrument, (b) flying altitude, and (c) PRF. A systematic shift in height values of up to 0.3 m between sensors when the first echoes were compared was demonstrated. Also the density-related variables differed significantly between the two instruments. Comparisons of flying altitudes and PRFs revealed upwards shifted canopy height distributions for the highest flying altitude (2000 m) and the lowest PRF (50 kHz). The distribution of echoes on different echo categories, i.e., single and multiple (first and last) echoes, differed significantly between acquisitions. The proportion of multiple echoes decreased with increasing flying altitude and PRF. Different echo categories have different properties since it is likely that single echoes tend to occur in the densest parts of the tree crowns, i.e., near the apex where the concentration of biological matter is highest and distance to the ground is largest. To assess the influence of instrument, flying altitude, and PRF on biophysical properties derived from ALS data, regression analysis was carried out to relate ALS-derived metrics to mean tree height (h_L) and timber volume (V). Cross validation revealed only minor differences in precision for the different ALS acquisitions, but systematic differences between acquisitions of up to 2.5% for h_L and 10.7% for V were found when comparing data from different acquisitions.