{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,20]],"date-time":"2026-04-20T23:15:58Z","timestamp":1776726958157,"version":"3.51.2"},"reference-count":61,"publisher":"MDPI AG","issue":"17","license":[{"start":{"date-parts":[[2024,9,4]],"date-time":"2024-09-04T00:00:00Z","timestamp":1725408000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100002341","name":"Academy of Finland","doi-asserted-by":"publisher","award":["357908"],"award-info":[{"award-number":["357908"]}],"id":[{"id":"10.13039\/501100002341","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002341","name":"Academy of Finland","doi-asserted-by":"publisher","award":["359554"],"award-info":[{"award-number":["359554"]}],"id":[{"id":"10.13039\/501100002341","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002341","name":"Academy of Finland","doi-asserted-by":"publisher","award":["VN\/27353\/2022"],"award-info":[{"award-number":["VN\/27353\/2022"]}],"id":[{"id":"10.13039\/501100002341","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002341","name":"Academy of Finland","doi-asserted-by":"publisher","award":["346382"],"award-info":[{"award-number":["346382"]}],"id":[{"id":"10.13039\/501100002341","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Ministry of Agriculture and Forestry of Finland and the European Union NextGenerationEU","award":["357908"],"award-info":[{"award-number":["357908"]}]},{"name":"Ministry of Agriculture and Forestry of Finland and the European Union NextGenerationEU","award":["359554"],"award-info":[{"award-number":["359554"]}]},{"name":"Ministry of Agriculture and Forestry of Finland and the European Union NextGenerationEU","award":["VN\/27353\/2022"],"award-info":[{"award-number":["VN\/27353\/2022"]}]},{"name":"Ministry of Agriculture and Forestry of Finland and the European Union NextGenerationEU","award":["346382"],"award-info":[{"award-number":["346382"]}]},{"DOI":"10.13039\/501100002341","name":"Academy-funded research infrastructure","doi-asserted-by":"publisher","award":["357908"],"award-info":[{"award-number":["357908"]}],"id":[{"id":"10.13039\/501100002341","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002341","name":"Academy-funded research infrastructure","doi-asserted-by":"publisher","award":["359554"],"award-info":[{"award-number":["359554"]}],"id":[{"id":"10.13039\/501100002341","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002341","name":"Academy-funded research infrastructure","doi-asserted-by":"publisher","award":["VN\/27353\/2022"],"award-info":[{"award-number":["VN\/27353\/2022"]}],"id":[{"id":"10.13039\/501100002341","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002341","name":"Academy-funded research infrastructure","doi-asserted-by":"publisher","award":["346382"],"award-info":[{"award-number":["346382"]}],"id":[{"id":"10.13039\/501100002341","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>Automating forest machines to optimize the forest value chain requires the ability to map the surroundings of the machine and to conduct accurate measurements of nearby trees. In the near-to-medium term, integrating a forest harvester with a mobile laser scanner system may have multiple applications, including real-time assistance of the harvester operator using laser-scanner-derived tree measurements and the collection of vast amounts of training data for large-scale airborne laser scanning-based surveys at the individual tree level. In this work, we present a comprehensive processing flow for a mobile laser scanning (MLS) system mounted on a forest harvester starting from the localization of the harvester under the forest canopy followed by accurate and automatic estimation of tree attributes, such as diameter at breast height (DBH) and stem curve. To evaluate our processing flow, we recorded and processed MLS data from a commercial thinning operation on three test strips with a total driven length ranging from 270 to 447 m in a managed Finnish spruce forest stand containing a total of 658 reference trees within a distance of 15 m from the harvester trajectory. Localization reference was obtained by a robotic total station, while reference tree attributes were derived using a high-quality handheld laser scanning system. As some applications of harvester-based MLS require real-time capabilities while others do not, we investigated the positioning accuracy both for real-time localization of the harvester and after the optimization of the full trajectory. In the real-time positioning mode, the absolute localization error was on average 2.44 m, while the corresponding error after the full optimization was 0.21 m. Applying our automatic stem diameter estimation algorithm for the constructed point clouds, we measured DBH and stem curve with a root-mean-square error (RMSE) of 3.2 cm and 3.6 cm, respectively, while detecting approximately 90% of the reference trees with DBH&gt;20 cm that were located within 15 m from the harvester trajectory. To achieve these results, we demonstrated a distance-adjusted bias correction method mitigating diameter estimation errors caused by the high beam divergence of the laser scanner used.<\/jats:p>","DOI":"10.3390\/rs16173292","type":"journal-article","created":{"date-parts":[[2024,9,4]],"date-time":"2024-09-04T09:57:47Z","timestamp":1725443867000},"page":"3292","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":17,"title":["Integration of a Mobile Laser Scanning System with a Forest Harvester for Accurate Localization and Tree Stem Measurements"],"prefix":"10.3390","volume":"16","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5334-5537","authenticated-orcid":false,"given":"Tam\u00e1s","family":"Faitli","sequence":"first","affiliation":[{"name":"Department of Remote Sensing and Photogrammetry, Finnish Geospatial Research Institute FGI, The National Land Survey of Finland, Vuorimiehentie 5, FI-02150 Espoo, Finland"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1979-9217","authenticated-orcid":false,"given":"Eric","family":"Hyypp\u00e4","sequence":"additional","affiliation":[{"name":"Department of Remote Sensing and Photogrammetry, Finnish Geospatial Research Institute FGI, The National Land Survey of Finland, Vuorimiehentie 5, FI-02150 Espoo, Finland"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4664-6221","authenticated-orcid":false,"given":"Heikki","family":"Hyyti","sequence":"additional","affiliation":[{"name":"Department of Remote Sensing and Photogrammetry, Finnish Geospatial Research Institute FGI, The National Land Survey of Finland, Vuorimiehentie 5, FI-02150 Espoo, Finland"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5486-4582","authenticated-orcid":false,"given":"Teemu","family":"Hakala","sequence":"additional","affiliation":[{"name":"Department of Remote Sensing and Photogrammetry, Finnish Geospatial Research Institute FGI, The National Land Survey of Finland, Vuorimiehentie 5, FI-02150 Espoo, Finland"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4796-3942","authenticated-orcid":false,"given":"Harri","family":"Kaartinen","sequence":"additional","affiliation":[{"name":"Department of Remote Sensing and Photogrammetry, Finnish Geospatial Research Institute FGI, The National Land Survey of Finland, Vuorimiehentie 5, FI-02150 Espoo, Finland"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3841-6533","authenticated-orcid":false,"given":"Antero","family":"Kukko","sequence":"additional","affiliation":[{"name":"Department of Remote Sensing and Photogrammetry, Finnish Geospatial Research Institute FGI, The National Land Survey of Finland, Vuorimiehentie 5, FI-02150 Espoo, Finland"},{"name":"Department of Built Environment, School of Engineering, Aalto University, P.O. Box 11000, FI-00076 Aalto, Finland"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0259-6894","authenticated-orcid":false,"given":"Jesse","family":"Muhojoki","sequence":"additional","affiliation":[{"name":"Department of Remote Sensing and Photogrammetry, Finnish Geospatial Research Institute FGI, The National Land Survey of Finland, Vuorimiehentie 5, FI-02150 Espoo, Finland"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5360-4017","authenticated-orcid":false,"given":"Juha","family":"Hyypp\u00e4","sequence":"additional","affiliation":[{"name":"Department of Remote Sensing and Photogrammetry, Finnish Geospatial Research Institute FGI, The National Land Survey of Finland, Vuorimiehentie 5, FI-02150 Espoo, Finland"},{"name":"Department of Built Environment, School of Engineering, Aalto University, P.O. Box 11000, FI-00076 Aalto, Finland"}]}],"member":"1968","published-online":{"date-parts":[[2024,9,4]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"13","DOI":"10.5552\/crojfe.2021.739","article-title":"Automation and robotics in forest harvesting operations: Identifying near-term opportunities","volume":"42","author":"Visser","year":"2021","journal-title":"Croat. J. For. Eng."},{"key":"ref_2","unstructured":"Ponsse (2022). Ponsse to Demonstrate New Solutions at FinnMETKO 2022, Ponsse. 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