上空UAVレーザデータと林内のUAV画像計測の複合による単木単位の材積推定手法の提案

抄録

Estimating the timber volume is effective in grasping the amount of carbon dioxide absorbed by the forest clearly. However, it is laborious and dangerous for staff to estimate the timber volume by using vernier caliper and ultrasonic tree height measuring instrument. Therefore, we have developed a system that can conduct timber volume estimation automatically by using a small unmanned aerial vehicle (UAV) equipped with camera and a lidar. In this research, we propose a registration method of point cloud generated by images acquired under GNSS invisible conditions and laser data from sky. The experimental results show that our system could estimate the trunk diameter within ± 2.11 cm (RMSE).