Work

Affordable air-ground mobile mapping system for precise forestry applications

Year: 2025

Type: article

Abstract: . Precise forest inventory in difficult terrain remains challenging due to mobility constraints and canopy occlusion. This paper presents an affordable air-ground mobile mapping system combining shoulder-mounted double LiDAR with a lightweight FPV drone-based LiDAR. We developed an extrinsic calibration method for dual orthogonally-mounted sensors and implemented a comprehensive processing pipeline incorporating LiDAR odometry, pose graph SLAM, and multi-view Normal Distributions Transform. Field experiments demonstrate successful air-ground data fusion for tree stem detection and dendrometric parameter extraction. The system was validated in extreme environments including a cave survey, proving versatility in difficult terrain. All software components are released as open-source tools: https://github.com/MapsHD/HDMapping.

Source: The international archives of the photogrammetry, remote sensing and spatial information sciences/International archives of the photogrammetry, remote sensing and spatial information sciences

DOI: 10.5194/isprs-archives-xlviii-1-w4-2025-5-2025

Authors: Janusz Bedkowski, Maksymilian Kulicki, Krzysztof Stereńczak, Marcin Matecki

Institutions: Institute of Fundamental Technological Research, Polish Academy of Sciences, Instytut Badawczy Leśnictwa

Language: English

Topic: Remote Sensing and LiDAR Applications

Subfield: Environmental Engineering

Field: Environmental Science

Domain: Physical Sciences

SDG: Life on land

Open Access status: diamond

OpenAlex ID: W4411330884

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