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While mobile LiDAR sensors are increasingly used to scan in ecology andforestry applications, reconstruction and characterisation are typicallycarried out offline (to the best of our knowledge). Motivated by this, wepresent an online LiDAR system which can run on a handheld device to segmentand track individual trees and identify them in a fixed coordinate system.Segments relating to each tree are accumulated over time, and tree models arecompleted as more scans are captured from different perspectives. Using thisreconstruction we then fit a cylinder model to each tree trunk by solving aleast-squares optimisation over the points to estimate the Diameter at BreastHeight (DBH) of the trees. Experimental results demonstrate that our system canestimate DBH to within $\sim$7 cm accuracy for 90% of individual trees in aforest (Wytham Woods, Oxford)

Online Estimation of Diameter at Breast Height (DBH) of Forest Trees Using a Handheld LiDAR