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The detailed structure information under the forest canopy is important for forestry surveying. As a high-precision environmental sensing and measurement method, terrestrial laser scanning (TLS) is widely used in high-precision forestry surveying. In TLS-based forestry surveys, stem-mapping, which is focused on detecting and extracting trunks, is one of the core data processing tasks and the basis for the subsequent calculation of tree attributes; one of the most basic attributes is the diameter at breast height (DBH). This article explores and improves the methods for stem mapping and DBH estimation from TLS data. Firstly, an improved 3D stem mapping algorithm considering the growth direction in random sample consistency (RANSAC) cylinder fitting is proposed to extract and fit the individual tree point cloud section. It constructs the hierarchical optimum cylinder of the trunk and introduces the growth direction into the establishment of the backbone buffer in the next layer. Experimental results show that it can effectively remove most of the branches and reduce the interference of the branches to the discrimination of trunks and improve the integrity of stem extraction by about 36%. Secondly, a robust least squares ellipse fitting method based on the elliptic hypothesis is proposed for DBH estimation. Experimental results show that the DBH estimation accuracy of the proposed estimation method is improved compared with other methods. The mean root mean squared error (RMSE) of the proposed estimation method is 1.14 cm, compared with other methods with a mean RMSE of 1.70, 2.03, and 2.14 cm. The mean relative accuracy of the proposed estimation method is 95.2%, compared with other methods with a mean relative accuracy of 92.9%, 91.9%, and 90.9%.

Improved 3D Stem Mapping Method and Elliptic Hypothesis-Based DBH Estimation from Terrestrial Laser Scanning Data