Prompt Mapping Tree Positions with Handheld Mobile Scanners Based on SLAM Technology

Abstract

In this study, we evaluated the performance of GeoSLAM ZEB Horizon and Stonex X120GO SLAM handheld mobile laser scanners (HMLS) to address two primary objectives. First, we aimed to assess and compare the accuracy of positioning achieved using HMLS instruments. Second, we sought to investigate the influencing factors and their impact on estimation accuracies. The factors influencing the accuracy of positioning in HMLS Simultaneous Localization and Mapping-aided solutions were defined, considering the scanner type, distance from the trajectory, forest structure, tree species, and Diameter at Breast Height. The same type of trajectory was tested in five different stand structures. The evaluation of GeoSLAM HMLS point clouds yielded an average positional RMSE of 17.91 cm, while the data extracted from the Stonex HMLS resulted in an average positional RMSE of 17.33 cm. These results underscore the significant potential of HMLS technology in addressing the critical need for precise positioning data in various applications, from forestry management to environmental monitoring, wildlife habitat assessment, and climate change studies. By harnessing the power of handheld mobile laser scanners, our research aims to enhance the accuracy and efficiency of geospatial data capture in challenging.