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原文摘要

Laser scanning has been utilized for decades to measure tree structure and geometry. Despite continuous advances in sensor technology, uncertainties arising from scanner characteristics and measurement conditions has remained relevant sources of error. In particular, factors such as laser beam diameter can introduce both systematic and random errors in the reconstructed tree geometry. This study investigates the main sources of these errors in mobile laser scanning (MLS) and quantifies their effects on stem curve (stem diameter) estimation. We discovered through simulations and experiments that the heteroscedasticity (difference in variance in ranging and scan angle) in the measurement noise is a key factor along with the beam width of the lidar, which cause the bias of the diameter estimates to depend not only on distance, but also on the tree diameter. We demonstrated that this bias can be reliably predicted and negated for trees with a diameter at the breast height greater than 10 cm using technical specifications of the sensor without any additional calibration. In experiments, the proposed bias compensation method reduced the root-mean-square error of stem diameter estimates to sub-centimeter level on boreal forest test sites. However, for small trees with diameter below 10 cm, the diameter bias becomes sensitive to the diameter of the tree$\unicode{x2013}$an unknown factor$\unicode{x2013}$and other factors, such as different bark and out-of-roundness of the stem, limiting the precision of lidar for measuring geometry of trees and applicability of the presented method.