A trunk-based SLAM backend for smartphones with online SLAM in large-scale forest inventories

Reliable forest resource information is needed to assess the forest development status and design management plans for forest maintenance and conservation. The forest field sample inventory is a vital forest resource inventory method. Thus, forest inventory reliability depends on tree attribute estimation accuracy and the quantity and quality of field samples. Simultaneous localization and mapping (SLAM)-based mobile laser scanners (MLSs) are convenient inventory tools due to their mobility and global navigation satellite system (GNSS) signal independence. However, such scanners may be heavy, expensive and unable to verify results on-site. With the improved SLAM algorithm and chip computing capabilities, a smartphone can deploy an online SLAM system, which allows the smartphone to perform the relative positioning in forests without GNSS signals. Previous research studies have demonstrated this simple, portable, and economical device for estimating the tree position and diameter at breast height (DBH) through tree-by-tree measurements in real time. However, the device might face a challenge in large-scale forest inventories because the image-feature-based backend may not work well in forests that are not well constructed for traditional SLAM systems. In this paper, an online trunk-based backend was designed to accurately estimate tree position and correct pose drift in large-scale forest inventories in real time. Specifically, a trunk-based loop closure detection algorithm was designed for detecting whether an earlier observed tree is re-observed to provide nodes and constraints for tree position graph optimization; this algorithm uses the provided nodes and constraints to build and optimize the tree position graph and then correct the current pose based on the optimized globally consistent tree position graph. This new backend was integrated with the previous work as an executable program that can be deployed on a smartphone with an online RGB-D SLAM system. The method was tested in 5 field sample plots (32 x 32 m), and the reference tree positions were collected using terrestrial laser scanning (TLS) through multi-scan mode. The distance mean between the estimated and reference tree positions was 0.133 m when using our new backend, and it was 0.759 m when estimated with the RTAB-Map. The tree position estimates were unbiased and had root mean square errors (RMSEs) of less than 0.09 m in the x-axis, y-axis and z-axis directions when using the trunk-based backend. However, the estimates had biases of -0.125 m, -0.261 m and 0.262 m and RMSEs of more than 0.30 m in the x-axis, y-axis and z-axis directions without the new backend. The results showed that the designed trunk-based backend allows a smartphone with an online SLAM system to function as an accurate and efficient tool for large-scale forest inventories. However, the method was tested only in 32 x 32 m square field sample plots. More tests must be performed in larger plots in the future, although enough loop-closure constraints can theoretically guarantee the accuracy of the tree position graph and current pose.