Publikasjoner
NIBIOs ansatte publiserer flere hundre vitenskapelige artikler og forskningsrapporter hvert år. Her finner du referanser og lenker til publikasjoner og andre forsknings- og formidlingsaktiviteter. Samlingen oppdateres løpende med både nytt og historisk materiale. For mer informasjon om NIBIOs publikasjoner, besøk NIBIOs bibliotek.
2018
Sammendrag
Enabling automated 3D mapping in forests is an important component of the future development of forest technology, and has been garnering interest in the scientific community, as can be seen from the many recent publications. Accordingly, the authors of the present paper propose the use of a Simultaneous Localisation and Mapping algorithm, called graph-SLAM, to generate local maps of forests. In their study, the 3D data required for the mapping process were collected using a custom-made, mobile platform equipped with a number of sensors, including Velodyne VLP-16 LiDAR, a stereo camera, an IMU, and a GPS. The 3D map was generated solely from laser scans, first by relying on laser odometry and then by improving it with robust graph optimisation after loop closures, which is the core of the graph-SLAM algorithm. The resulting map, in the form of a 3D point cloud, was then evaluated in terms of its accuracy and precision. Specifically, the accuracy of the fitted diameter at breast height (DBH) and the relative distance between the trees were evaluated. The results show that the DBH estimates using the Pratt circle fit method could enable a mean estimation error of approximately 2 cm (7–12%) and an RMSE of 2.38 cm (9%), whereas for tree positioning accuracy, the mean error was 0.0476 m. The authors conclude that robust SLAM algorithms can support the development of forestry by providing cost-effective and acceptable quality methods for forest mapping. Moreover, such maps open up the possibility for precision localisation for forestry vehicles.
Forfattere
Gregory Taff Marit Aure Torill Nyseth Anniken Førde Tone MagnussenSammendrag
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Sammendrag
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Sammendrag
The Baltic region includes in this report Fennoscandia (Norway, Sweden, Finland, Denmark), the Baltic states (Estonia, Latvia, Lithuania) and Poland. This region is fairly heterogeneous as regards forest history, forest policy, forest economy as well as climate and conditions for forest growth. The climate of the Baltic region is cool, but still drastically modified by the Gulfstream which skirts the western coast of Scandinavia, giving rise to much warmer summers and milder winters than expected based on the latitude. The warming associated with climate change is expected to be particularly pronounced in winter and at high latitudes. In coastal areas precipitation may increase notably. With elevated temperature, the frequency of both spring frost and drought events is predicted to increase in continental parts. The vegetation and forest types are heterogeneous. Fennoscandia has a large proportion of boreal vegetation where coniferous forests dominate and many broadleaves common in Central Europe are rare and scattered. In the Baltic region the most distinct marginal populations are those at the northern fringe of their distribution. The distribution ranges are limited by a combination of different factors such as low winter temperatures, short growing season either for growth or for seed maturation, soil types and human influence. Fragmentation may limit gene flow between stands, and some populations also show slight inbreeding. The countries in the region have protected jointly 4,9 M ha in the main MCPFE categories. The northern part of the region seems to put more weight on nature conservation through no intervention whereas the southern part emphasizes conservation through active management. The countries of the Baltic region have uploaded altogether 1'172 in situ genetic conservation units in the European Information System on Forest Genetic Resources (EUFGIS).
Forfattere
Kjersti Holt HanssenSammendrag
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Ivar PettersenSammendrag
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Leif Jarle AsheimSammendrag
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Hege UlfengSammendrag
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Redaktører
Sjur Spildo PrestegardSammendrag
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Forfattere
Kari SkjånesSammendrag
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