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Terrestrial laser scanner is a kind of fast, high-precision data acquisitiondevice, which had been more and more applied to the research areas of forestinventory. In this study, a kind of automated low-cost terrestrial laserscanner was designed and implemented based on a two-dimensional laser radarsensor SICK LMS-511 and a stepper motor. The new scanner was named as BEE,which can scan the forest trees in three dimension. The BEE scanner and itssupporting software are specifically designed for forest inventory. Theexperiments have been performed by using the BEE scanner in an artificialginkgo forest which was located in Haidian district of Beijing. Four squareplots were selected to do the experiments. The BEE scanner scanned in the fourplots and acquired the single scan data respectively. The DBH, tree height andtree position of trees in the four plots were estimated and analyzed. Forcomparison, the manual measured data was also collected in the four plots. Thetree stem detection rate for all four plots was 92.75%; the root mean squareerror of the DBH estimation was 1.27cm; the root mean square error of the treeheight estimation was 0.24m; the tree position estimation was in line with theactual position. Experimental results show that the BEE scanner can efficientlyestimate the structure parameters of forest trees and has a good potential inpractical application of forest inventory.

Automated Low-cost Terrestrial Laser Scanner for Measuring Diameters at Breast Height and Heights of Forest Trees