Affordable air-ground mobile mapping system for precise forestry applications
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 calibrati...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2025-06-01
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| Series: | The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| Online Access: | https://isprs-archives.copernicus.org/articles/XLVIII-1-W4-2025/5/2025/isprs-archives-XLVIII-1-W4-2025-5-2025.pdf |
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| Summary: | 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: <code>https://github.com/MapsHD/HDMapping</code>. |
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| ISSN: | 1682-1750 2194-9034 |