US Patent No. 10,768,303

METHOD FOR IDENTIFYING INDIVIDUAL TREES IN AIRBORNE LIDAR DATA AND CORRESPONDING COMPUTER PROGRAM PRODUCT


Patent No. 10,768,303
Issue Date September 08, 2020
Title Method For Identifying Individual Trees In Airborne Lidar Data And Corresponding Computer Program Product
Inventorship Biao Xiong, Enschede (NL)
Dong Yang, Haarle (NL)
Assignee YaDo Holding B.V., Eindhoven (NL) Biao Xiong, Eindhoven (NL)

Claim of US Patent No. 10,768,303

1. A method for identifying individual trees in airborne lidar data, comprising the steps of:a. obtaining lidar data of a group of one or more trees to be separated into individual trees, the lidar data comprising a plurality of lidar data points;
b. define voxels in a regular 3D grid on the basis of the lidar data points;
c. applying an image segmentation algorithm to obtain at least one segment comprising a subset of the 3D voxels;
wherein the following steps are performed if at least two segments are obtained in step c: d. for each of a first segment and a second neighbouring segment of said at least two segments:
I. find the root voxel of said segment, the root voxel being a voxel having the lowest height of the voxels of said segment;
II. find the branch voxels of said segment, wherein a branch voxel is a voxel connected directly or indirectly to the root voxel;
e. merging the first segment and the neighbouring second segment if:
I. the distance between the root voxel of the first segment and the root voxel of the second segment is less than a first threshold; and
II. the distance between the root voxel of the first segment and the closest branch voxel of the second segment is less than a second threshold; and
III. the distance between each of the branch voxels of the first segment and the corresponding closest branch voxels of the second segment is less than a third threshold.