Tree Measurement in Forest by 2D Laser Scanning

Measurement of tree parameters, particularly tree diameter and location, in connection to forest harvesters, is discussed. Diameters are determined from laser scanner measurements using a simple method based on edge points of a feature, in addition to the point with the shortest range to the scanner. The measurement height is equal to 1.3 m from the ground. The data for this research have been collected in a pine forest using a 2D laser scanner mounted on a mobile ATV platform. The error of the tree diameter calculations is 4% in average. The evaluation of the tree localization is based on manually measured reference data of the forest.