Method and apparatus for sorting LiDAR data
A programmed computer or non-transitory computer readable storage media has instructions that are executable by a processor to identify LiDAR data points associated with items of vegetation or other objects. Each LiDAR data point is tested to determine if it lies within the value of a closed surface defined for higher LiDAR points. If so, the LiDAR point is grouped with the LiDAR points associated with a previously identified item of vegetation. If not, a new item of vegetation is identified.
1. A computer-implemented method of sorting LiDAR data into groups, comprising:
receiving a set LiDAR data points for a region of interest;
analyzing each of the LiDAR data points in the set to determine if a LiDAR data point has a position that is within an enclosed surface defined for one or more other LiDAR data points in the set and,
if so, adding the LiDAR data point to a previously defined group of LiDAR data points associated with an object; and
if not, defining a new group of LiDAR data points associated with a new object.
2. The method of claim 1 , wherein the object is a tree in a forest.
3. The method of claim 1 , wherein the enclosed surface is an ellipsoid.
4. The method of claim 1 , wherein the enclosed surface is a sphere.
5. The method of claim 1 , wherein the enclosed surface is a cone.
6. The method of claim 1 , wherein the enclosed surface is a cylinder.
7. The method of claim 3 , wherein the determination of whether a LiDAR data point is within the enclosed surface is made by determining if the coordinates of the LiDAR data point analyzed are within a radius of an ellipsoid taken at the height of the LiDAR data point being analyzed.
8. The method of claim 1 , wherein the enclosed surface defined for each LiDAR data point has a size that is dependent on the height of the LiDAR data point.
9. The method of claim 2 , wherein the enclosed surface defined for each LiDAR data point has a size that is dependent on a canopy closure value from which the LiDAR data was obtained.
10. A computer-implemented method of identifying LiDAR data points associated with individual trees in a forest, comprising:
receiving a set of LiDAR data points for a region of interest;
sorting the LiDAR data points based on a height of each LiDAR data point in the set;
defining a closed surface for each of the LiDAR data points in the set; and
defining a group of LiDAR data points that have overlapping closed surfaces as representing an individual tree.
11. The computer-implemented method of claim 10 , wherein the closed surface is defined by an ellipsoid.
12. The computer-implemented method of claim 10 , wherein the closed surface is defined by a sphere.
13. The computer-implemented method of claim 10 , wherein the closed surface is defined by a cone.
14. The computer-implemented method of claim 10 , wherein the closed surface is defined by a cylinder.
15. A non-transitory computer readable media with instructions stored thereon that are executable by a computer to identify LiDAR data points associated with an item of vegetation, wherein the instructions caused a processor to:
receive a set LiDAR data points for a region of interest;
analyze each of the LiDAR data points in the set to determine if a LiDAR data point has a position that is within an enclosed surface defined for one or more other LiDAR data points in the set and
if so, to add the LiDAR data point to a previously defined group of LiDAR data points associated with an item of vegetation; and
if not, to define a new group of LiDAR data points associated with a new item of vegetation.