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Airborne laser scanning (ALS) data are routinely used to estimate and map structure-related forest inventory variables. The further development, refinement and evaluation of methods to derive forest inventory variables from ALS data require extensive datasets of forest stand information on an individual tree-level and corresponding ALS data. A cost-efficient method to obtain such datasets is the combination of virtual forest stands with a laser scanning simulator. We present an approach to simulate ALS data of forest stands by combining forest inventory information, a tree point cloud database and the laser scanning simulation framework HELIOS++. ALS data of six 1-ha plots were simulated and compared to real ALS data of these plots. The synthetic 3D representations of the forest stands were composed of real laser scanning point clouds of individual trees that were acquired by an uncrewed aerial vehicle (UAV), and, for comparison, simplified tree models with cylindrical stems and spheroidal crowns. The simulated ALS point clouds of the six plots were compared with the real point clouds based on canopy cover, height distribution of returns and several other point cloud metrics. In addition, the performance of biomass models trained using these synthetic data was evaluated. The comparison revealed that, in general, both the real tree models and the simplified tree models can be used to generate synthetic data. The results differed for the different study sites and depending on whether all returns or only first returns were considered. The measure of canopy cover was better represented by the data of the simplified tree models, whereas the height distribution of the returns was – for most of the study sites – better represented by the real tree model data. Training biomass models with metrics derived from the real tree model data led to an overestimation of biomass, while using metrics of the simplified tree model data resulted in an underestimation of biomass. Still, the accuracy of models trained with simulated data was only slightly lower compared to models trained with real ALS data. Our results suggest that the presented approach can be used to generate ALS data that are sufficiently realistic for many applications. The synthetic data may be used to develop new or refine existing ALS-based forest inventory methods, to systematically investigate the relationship between point cloud metrics and forest inventory variables and to analyse how this relationship is affected by laser scanning acquisition settings and field reference data characteristics.

The analysis of topographic time series is often based on bitemporal change detection and quantification. For 3D point clouds, acquired using laser scanning or photogrammetry, random and systematic noise has to be separated from the signal of surface change by determining the minimum detectable change. To analyse geomorphic change in point cloud data, the multiscale model-to-model cloud comparison (M3C2) approach is commonly applied, which provides a statistical significance test. This test assumes planar surfaces and a uniform registration error. For natural surfaces, the planarity assumption does not necessarily apply, in which cases the value of minimal detectable change (Level of Detection) is overestimated. To overcome these limitations, we quantify an uncertainty information for each 3D point by propagating the uncertainty of the measurements themselves and of the alignment uncertainty to the 3D points. This allows the calculation of 3D covariance information for the point cloud, which we use in an extended statistical test for equality of multivariate means. Our method, called M3C2-EP, gives a less biased estimate of the Level of Detection, allowing a more appropriate significance threshold in typical cases. We verify our method in two simulated scenarios, and apply it to a time series of terrestrial laser scans of a rock glacier at two different timespans of three weeks and one year. Over the three-week period, we detect significant change at 12.5% fewer 3D locations, while quantifying additional 25.2% of change volume, when compared to the reference method of M3C2. Compared with manual assessment, M3C2-EP achieves a specificity of 0.97, where M3C2 reaches 0.86 for the one-year timespan, while sensitivity drops from 0.72 for M3C2 to 0.60 for M3C2-EP. Lower Levels of Detection enable the analysis of high-frequency monitoring data, where usually less change has occurred between successive scans, and where change is small compared to local roughness. Our method further allows the combination of data from multiple scan positions or data sources with different levels of uncertainty. The combination using error propagation ensures that every dataset is used to its full potential.

Geographic observation benefits from the increasing availability of time series of 3D geospatial data, which allow analysis of change processes at high temporal detail and over extensive periods. In this context, the demand for advanced methods to detect and extract topographic surface changes from these 4D geospatial data emerges. Changes in natural scenes occur with varying magnitude, duration, spatial extent, and change rate, and the timing of their occurrence is not known. Standard pairwise change detection requires the selection of fixed analysis periods and the specification of magnitude thresholds to determine accumulation or erosion forms. In settings with continuous surface morphology and dynamic changes to the surface due to material transport, such change forms are typically temporary and may be missed or aggregated if they occur with spatial and/or temporal overlap. This is overcome with the extraction of 4D objects-by-change (4D-OBCs). These objects are obtained by firstly detecting surface changes in the temporal domain at locations in the scene. Subsequently, they are spatially delineated by considering the full history of surface change during region growing from the seed location of a detected change. To perform this spatiotemporal segmentation systematically for entire 3D time series, we develop a fully automatic approach of seed detection and selection, combined with locally adaptive thresholding for region growing of individual objects with varying change properties. We apply our workflow to a five-months hourly time series of around 3,000 terrestrial laser scanning point clouds acquired for coastal monitoring at a sandy beach in The Netherlands. This provides 2,021 4D-OBCs as extracted accumulation or erosion forms. Results are validated through majority agreement of six expert analysts, who evaluate the segmentation performance at sample locations throughout the scene. Accordingly, our method extracts surface changes with an error of omission of 4.7% and an error of commission of 16.6%. We examine the results and provide considerations how postprocessing of segments can further improve the change analysis workflow. The developed approach thereby provides a powerful tool for automatic change analysis in 4D geospatial data, namely to detect and delineate natural surface changes across space and time.

Point clouds continue to be acquired with greater accuracy and less occlusion over complex scenes, characterised by high roughness and topographic variation in all three dimensions. The most widely adopted approach to change detection, M3C2, measures change along the local surface normal, which varies between points and bypasses the uncertainties involved in mesh or DEM generation. While adaptive, this direction of comparison is nevertheless user-defined and becomes less relevant where the movement direction deviates from the surface normal. Measured change therefore also becomes less meaningful, as it is a projection onto this direction. Sliding of a failing slope, for example, is predominantly surface parallel rather than along the surface normal. We present an approach that derives a dominant movement direction (DMD) at each point based on multi-scale, multi-directional change quantifications. The DMDs differ from the surface normals in three LiDAR-derived test cases; a rockfall, an avalanche, and rock glacier movement, providing more accurate measures of rockfall depth and boulder movement across the rock glacier. When the direction of change detection is orthogonal to local relief (i.e. across the surface), a variable length search cylinder that intersects only a single (corresponding) surface is necessary during change detection. Where movement results in new regions of occlusion in the second point cloud, we show that the proportion of points for which no valid change could be recorded decreases by up to 15% using the DMD rather than the surface normal. We emphasise the importance of examining the direction over which change is measured, and highlight that a comparison direction that adapts to movement rather than to the local surface can provide more relevant and accurate measures of change where the movement is not orthogonal to the surface. Our approach represents a supplementary tool for cloud-to-cloud comparison, where a choice of tool should be made based on the expected DMD deviation from the surface normal.

Terrestrial laser scanners are commonly used for remotely sensing natural surfaces into 3D point clouds. Time series of such 3D point clouds can be analysed to gain information of surface changes that are induced by Earth surface shaping processes. The atomic unit in time series analysis is a bitemporal change detection and quantification. This should involve an estimation of the minimum quantifiable change, the Level of Detection, to separate signal from noise, e.g. stemming from the measurement. To enable such an estimation through error propagation, a model of the sensing instrument’s measurement uncertainty is required. In this work, we present an investigation on the ranging component of terrestrial laser scanning on this uncertainty and its influence on 3D distances between point clouds of two epochs. Specifically, we analyse the effects of incidence angle, intensity and range for different object materials, and make additional considerations with respect to waveform information returned by the sensor. We estimate a model for the rangefinder uncertainty of a terrestrial laser scanner and apply it on experimental data. The results show that using a sensor-specific model of ranging uncertainty allows an appropriate estimation of the Level of Detection. At a range of 60 m and a rotational displacement of 10°, this Level of Detection ranges between 0.1 mm to 1 mm for a white and a grey surface and up to 5 mm for a black surface. The completeness of the detection of significant change ranges from 60.2 % (black) to 89.8 % (grey) for the proposed method and from 65.5 % to 88.9 % for the baseline, when compared to tachymeter measurements. The similarity between the results is expected and suggests the validity of error propagation for the derivation of the Level of Detection.

Time series of topographic data are becoming increasingly widespread for monitoring geomorphic activity. Dense 3D time series are now obtained by near-continuous terrestrial laser scanning (TLS) installations, which acquire data at high frequency (e.g. hourly) and over long periods. Such datasets contain valuable information on topographic evolution over varying spatial and temporal scales. Current analyses however are mostly conducted based on pairwise surface or object-based change, which typically require the selection of thresholds and intervals to identify the processes involved and fail to account for the full history of change. Detected change may therefore be difficult to attribute to one or more underlying geomorphic processes causing the surface alteration. We present an automatic method for 4D change analysis that includes the temporal domain by using the history of surface change to extract the period and spatial extent of changes. A 3D space-time array of surface change values is derived from an hourly TLS time series acquired at a sandy beach over five months (2967 point clouds). Change point detection is performed in the time series at individual locations and used to identify change processes, such as the appearance and disappearance of an accumulation form. These provide the seed to spatially segment ‘4D objects-by-change’ using a metric of time series similarity in a region growing approach. Results are compared to pairwise surface change for three selected cases of anthropogenic and natural processes on the beach. The obtained information reflects the evolution of a change process and its spatial extent over the change period, thereby improving upon the results of pairwise analysis. The method allows the detection and spatiotemporal delineation of even subtle changes induced by sand transport on the surface. 4D objects-by-change can therefore provide new insights on spatiotemporal characteristics of geomorphic activity, particularly in settings of continuous surfaces with dynamic morphologies.

Virtual Laser Scanning (VLS) provides a remote sensing method to generate 3D point clouds, which can, in certain cases, replace real data acquisition. A prerequisite is a suitable substitute of reality for modelling the 3D scene, the scanning system, the platform, the laser beam transmission, the beam-scene interaction, and the echo detection. The suitability of simulated laser scanning data largely depends on the application, and simulations that are more realistic come with stricter requirements on input data quality and higher computational costs. It is therefore important to have a good capability for corresponding trade-offs in the simulation software.With the scientific software HELIOS++ [1], we provide an open source solution to acquire VLS data, where this trade-off can be tuned easily. HELIOS++ is implemented in C++ for optimized runtimes, and provides bindings in Python to allow integration into scripting environments (e.g. GIS plugins, Jupyter Notebooks).The HELIOS++ VLS concept is based on a modular design. This allows the user to quickly exchange single simulation components, such as the scanner or the 3D scene. The simulation of diverging laser beams and the recording of full waveforms is supported via a subray tracing approach: depending on the desired physical realism and accuracy, a user-defined number of concentric circles approximate a single laser beam. On each circle, individual subrays are cast into the scene, which can then intersect with a single object and produce a hit. The returned waveforms are subsequently added together. This allows the simulator to detect multiple echoes for each pulse. The waveforms can be exported for further analysis.In this contribution, we present main applications of HELIOS++ as a general-purpose LiDAR simulator. The first application is forestry, where green vegetation can be represented by different 3D model types. As the simulation of individual leaves as 3D mesh models requires high computational power, voxel-based methods have recently been proposed. HELIOS++ also supports simulation of semitransparent voxels, where a subray has a certain probability of creating a return when traversing. This probability depends on the incidence angle and the leaf angle distribution (e.g., planophile, erectophile …), the traversal length through the voxel, and the leaf area density of the voxel, which can, e.g., be derived from a terrestrial laser scanning point cloud. Tuning of the subray-parameters allows recreating vertical point density profiles of real surveys.A second use case is the generation of training data for machine learning algorithms. Recently, several methods for Deep Learning on point clouds have been presented. However, such methods require immense amounts of training data to achieve acceptable performance. We present how VLS can be used to generate training data in machine learning classifiers, and how different sensor settings influence the classification results.This contribution provides an introduction to VLS, possible use cases, pitfalls and best practices for successful application of laser scanning simulation.[1] Winiwarter et al., 2021, DOI: 10.1016/j.rse.2021.112772

Near-continuous time series of 3D point clouds capture local landscape dynamics at a large range of spatial and temporal scales. These data can be acquired by permanent terrestrial laser scanning (TLS) or time lapse photogrammetry, and are being used to monitor surface changes in a variety of natural scenes, including snow cover dynamics, rockfalls, soil erosion, or sand transport on beaches.Automatic methods are required to analyze such data with thousands of point cloud epochs (acquired, e.g., hourly over several months), each representing the scene with several million 3D points. Usually, no a-priori knowledge about the timing, duration, magnitude, and spatial extent of all spatially and temporally variable change occurrences is available. Further, changes are difficult to delineate individually if they occur with spatial overlap, as for example coinciding accumulation processes. To enable fully automatic extraction of individual surface changes, we have developed the concept of 4D objects-by-change (4D-OBCs). 4D-OBCs are defined by similar change histories within the area and timespan of single surface changes. This concept makes use of the full temporal information contained in 3D time series to automatically detect the timing and duration of changes. Via spatiotemporal segmentation, individual objects are spatially delineated by considering the entire timespan of a detected change regarding a metric of time series similarity (cf. Anders et al. 2021 [1]), instead of detecting changes between pairs of epochs as with established methods.For hourly TLS point clouds, the extraction of 4D-OBCs improved the fully automatic detection and spatial delineation of accumulation and erosion forms in beach monitoring. For a use case of snow cover monitoring, our method allowed quantifying individual change volumes more accurately by considering the timespan of changes, which occur with variable durations in the hourly 3D time series, rather than only instantaneously from one epoch to the next. The result of our time series-based method is information-rich compared to results of bitemporal change analysis, as each 4D-OBC contains the full 4D (3D + time) data of the original 3D time series with determined spatial and temporal extent.The objective of this contribution is to present how interpretable information can be derived from resulting 4D-OBCs. This will provide new layers that are supporting subsequent geoscientific analysis of observed surface dynamics. We apply Kalman filtering (following Winiwarter et al. 2021 [2]) to model the temporal evolution of individually extracted 4D-OBCs. This allows us to extract change rates and accelerations for each point in time, and to subsequently derive further features describing the temporal properties of individual changes. We present first results of this methodological combination and newly obtained information layers which can reveal spatial and temporal patterns of change activity. For example, deriving the timing of highest change rates may be used to examine links to external environmental drivers of observed processes. Our research therefore contributes to extending the information that can be extracted about surface dynamics in natural scenes from near-continuous time series of 3D point clouds.References:[1] https://doi.org/10.1016/j.isprsjprs.2021.01.015[2] https://doi.org/10.5194/esurf-2021-103

Recent advances in repeated data acquisition by UAV-borne photogrammetry and laser scanning for geoscientific monitoring extend the possibilities for analysing surface dynamics in 3D at high spatial (centimeter point spacing) and temporal (up to daily) resolution. These techniques overcome common challenges of ground-based sensing (occlusion, heterogeneous measurement distribution, limited spatial coverage) and provide a valuable additional data source for topographic change analysis between successive epochs.We investigate point clouds derived from UAV-borne photogrammetry and laser scanning as input for change analysis. We apply and compare two state-of-the-art methods for pairwise 3D topographic change quantification. Our study site is the active rock glacier Äußeres Hochebenkar in the Eastern Austrian Alps (46° 50’ N, 11° 01’ E). Whereas point clouds derived from terrestrial laser scanning (TLS) have become a common data source for this application, point clouds derived from UAV-borne sensing techniques have emerged only in recent years and their potential for methods of 3D and 4D (3D + time) change analysis is yet to be exploited.We perform change analysis using (1) the Multi Scale Model to Model Cloud Comparison (M3C2) algorithm [1] and (2) the correspondence-driven plane-based M3C2 [2]. Both methods have shown to provide valuable surface change information on rock glaciers when applied to successive terrestrial laser scanning point clouds of different time spans (ranging from 2 weeks to several years). The considerable value of both methods also lies in their ability to quantify the uncertainty additionally to the associated change. This allows to distinguish between significant change (quantified magnitude of change > uncertainty) and non-significant or no change (magnitude of change ≤ uncertainty) and hence enables confident analysis and geographic interpretation of change.We will extend the application of the two methods by using point clouds derived using (1) photogrammetric techniques on UAV-based images and (2) UAV-borne laser scanning. We investigate the influence of variations in measurement distribution and density, completeness of spatial coverage and ranging uncertainty by comparing UAV-based point clouds to TLS data of the same epoch. Using TLS-TLS-based change analysis as reference, we examine the performance of the two methods with respect to their capability of quantifying surface change based on point clouds originating from different sensing techniques.Results of this assessment can support the theoretical and practical design of future measurement set-ups. Comparing results of both methods further aids the selection of a suitable method (or combination) for change analysis in order to meet requirements e.g., regarding uncertainty of measured change or spatial coverage of the analysis. To ease usability of a broad suite of state-of-the-art methods of 3D/4D change analysis, we are implementing an open source Python library for geographic change analysis in 4D point cloud data (py4dgeo, www.uni-heidelberg.de/3dgeo-opensource). Finally, our presented study provides insights how methods for 3D and 4D change analysis should be adapted or developed in order to exploit the full potential of available close-range sensing techniques.[1] https://doi.org/ 10.1016/j.isprsjprs.2013.04.009[2] https://doi.org/10.1016/j.isprsjprs.2021.11.018

Laser scanning from different acquisition platforms enables the collection of 3D point clouds from different perspectives and with varying resolutions. These point clouds allow us to retrieve detailed information on the individual tree and forest structure. We conducted airborne laser scanning (ALS), uncrewed aerial vehicle (UAV)-borne laser scanning (ULS) and terrestrial laser scanning (TLS) in two German mixed forests with species typical of central Europe. We provide the spatially overlapping, georeferenced point clouds for 12 forest plots. As a result of individual tree extraction, we furthermore present a comprehensive database of tree point clouds and corresponding tree metrics. Tree metrics were derived from the point clouds and, for half of the plots, also measured in the field. Our dataset may be used for the creation of 3D tree models for radiative transfer modeling or lidar simulation studies or to fit allometric equations between point cloud metrics and forest inventory variables. It can further serve as a benchmark dataset for different algorithms and machine learning tasks, in particular automated individual tree segmentation, tree species classification or forest inventory metric prediction. The dataset and supplementary metadata are available for download, hosted by the PANGAEA data publisher at https://doi.org/10.1594/PANGAEA.942856 (Weiser et al., 2022a).

4D topographic point cloud data contain information on surface change processes and their spatial and temporal characteristics, such as the duration, location, and extent of mass movements, e.g., rockfalls or debris flows. To automatically extract and analyse change and activity patterns from this data, methods considering the spatial and temporal properties are required. The commonly used M3C2 point cloud distance reduces uncertainty through spatial averaging for bitemporal analysis. To extend this concept into the full 4D domain, we use a Kalman filter for point cloud change analysis. The filter incorporates M3C2 distances together with uncertainties obtained through error propagation as Bayesian priors in a dynamic model. The Kalman filter yields a smoothed estimate of the change time series for each spatial location, again associated with an uncertainty. Through the temporal smoothing, the Kalman filter uncertainty is, in general, lower than the individual bitemporal uncertainties, which therefore allows detection of more change as significant. In our example time series of bi-hourly terrestrial laser scanning point clouds of around 6 days (71 epochs) showcasing a rockfall-affected high-mountain slope in Tyrol, Austria, we are able to almost double the number of points where change is deemed significant (from 14.9 % to 28.6 % of the area of interest). Since the Kalman filter allows interpolation and, under certain constraints, also extrapolation of the time series, the estimated change values can be temporally resampled. This can be critical for subsequent analyses that are unable to deal with missing data, as may be caused by, e.g., foggy or rainy weather conditions. We demonstrate two different clustering approaches, transforming the 4D data into 2D map visualisations that can be easily interpreted by analysts. By comparison to two state-of-the-art 4D point cloud change methods, we highlight the main advantage of our method to be the extraction of a smoothed best estimate time series for change at each location. A main disadvantage of not being able to detect spatially overlapping change objects in a single pass remains. In conclusion, the consideration of combined temporal and spatial data enables a notable reduction in the associated uncertainty of the quantified change value for each point in space and time, in turn allowing the extraction of more information from the 4D point cloud dataset.

Deep learning, referring to artificial neural networks with multiple layers, is widely used for classification tasks in many disciplines including computer vision. The most popular type is the Convolutional Neural Network (CNN), commonly applied to 2D image data. However, CNNs are difficult to adapt to irregular data like point clouds. PointNet, on the other hand, has enabled the derivation of features based on the geometric distribution of a set of points in nD-space utilising a neural network. We use PointNet on multiple scales to automatically learn a representation of local neighbourhoods in an end-to-end fashion, which is optimised for semantic labelling on 3D point clouds acquired by Airborne Laser Scanning (ALS). The results are comparable to those using manually crafted features, suggesting a successful representation of these neighbourhoods. On the ISPRS 3D Semantic Labelling benchmark, we achieve 80.6% overall accuracy, a mid-field result. Investigation on a bigger dataset, namely the 2011 ALS point cloud of the federal state of Vorarlberg, shows overall accuracies of up to 95.8% over large-scale built-up areas. Lower accuracy is achieved for the separation of low vegetation and ground points, presumably because of invalid assumptions about the distribution of classes in space, especially in high alpine regions. We conclude that the method of the end-to-end system, allowing training on a big variety of classification problems without the need for expert knowledge about neighbourhood features can also successfully be applied to single-point-based classification of ALS point clouds.

Virtual laser scanning (VLS) is a valuable method to complement expensive laser scanning data acquisition in the field. VLS refers to the simulation of LiDAR to create 3D point clouds from models of scenes, platforms and sensors mimicking real world acquisitions. In forestry, this can be used to generate training and testing data with complete ground truth for algorithms performing essential tasks such as tree detection or tree species classification. Furthermore, VLS allows for the in-depth investigation of the influence of different acquisition parameters on the point clouds and thus also the behaviour of algorithms, which is important when relating point cloud metrics to forest inventory variables. Finally, VLS can be used for acquisition planning and optimisation, as different configurations can be tested regarding their ability to create data of the required quality with minimal effort. For these purposes, we developed the open source Heidelberg LiDAR Operations Simulator HELIOS++ (written in C++) which is available on GitHub (https://github.com/3dgeo-heidelberg/helios), as a precompiled command line tool, and as Python package (pyhelios). HELIOS++ provides a high-fidelity framework for full 3D laser scanning simulations with multiple platforms and a flexible system to represent the scene. HELIOS++ models the beam divergence and supports the recording of the full waveform.One important premise for the usefulness of VLS data is the use of an adequate 3D scene in the simulation. In this context, we conducted a study investigating point clouds simulated based on opaque voxel-based forest models computed from terrestrial laser scanning data using different voxel sizes. Coupling the LiDAR simulation with a database containing point clouds of single trees from terrestrial, UAV-borne and airborne acquisitions, allowed us to compare metrics derived from real and simulated data. Furthermore, by including the tree neighbourhood in the scene, we were able to consider occlusion effects between the trees.We found that the voxel size is an important parameter, where values of e.g. 0.25 m lead to unrealistic occlusion effects of the mid- and understory, as only few gaps remain in the forest models through which the laser beam can pass. This results in fewer multiple returns, the vertical point distribution is shifted upwards, and tree metrics such as crown projection area and crown base height are estimated poorly. Smaller voxel sizes are therefore preferable, though the appropriate voxel size depends on the resolution of the input point cloud. With very small voxels, the voxel model may become too transparent. To achieve realistic simulations without the need for a high number of voxels we suggest variable downscaling of voxel cubes based on appropriate local metrics such as the plant area density. This approach decreases the computational requirements for the simulation, as fewer primitives are present in the scene. In our study, the use of such scaled voxels derived for a grid size of 0.25 m achieves equally and partly more reliable estimates of point cloud and tree metrics than regular voxels at fixed side lengths of 0.05 and 0.02 m.

Near-continuously acquired terrestrial laser scanning (TLS) data contains valuable information on natural surface dynamics. An important step in geographic analyses is to detect different types of changes that can be observed in a scene. For this, spatiotemporal segmentation is a time series-based method of surface change analysis that removes the need to select analysis periods, providing so-called 4D objects-by-change (4D-OBCs). This involves higher computational effort than pairwise change detection, and efforts scale with (i) the temporal density of input data and (ii) the (variable) spatial extent of delineated changes. These two factors determine the cost and number of Dynamic Time Warping distance calculations to be performed for deriving the metric of time series similarity. We investigate how a reduction of the spatial and temporal resolution of input data influences the delineation of twelve erosion and accumulation forms, using an hourly five-month TLS time series of a sandy beach. We compare the spatial extent of 4D-OBCs obtained at reduced spatial (1.0 m to 15.0 m with 0.5 m steps) and temporal (2 h to 96 h with 2 h steps) resolution to the result from highest-resolution data. Many change delineations achieve acceptable performance with ranges of ±10 % to ±100 % in delineated object area, depending on the spatial extent of the respective change form. We suggest a locally adaptive approach to identify poor performance at certain resolution levels for the integration in a hierarchical approach. Consequently, the spatial delineation could be performed at high accuracy for specific target changes in a second iteration. This will allow more efficient 3D change analysis towards near-realtime, online TLS-based observation of natural surface changes.

Topographic laser scanning is a remote sensing method to create detailed 3D point cloud representations of the Earth's surface. Since data acquisition is expensive, simulations can complement real data given certain premises are met: (i) models of 3D scene and scanner are available and (ii) modelling of the beam-scene interaction is simplified to a computationally feasible while physically realistic level. A number of laser scanning simulators for different purposes exist, which we enrich by presenting HELIOS++. HELIOS++ is an open-source simulation framework for terrestrial static, mobile, UAV-based and airborne laser scanning implemented in C++. The HELIOS++ concept provides a flexible solution for the trade-off between physical accuracy (realism) and computational complexity (runtime, memory footprint), as well as ease of use and of configuration. Features of HELIOS++ include the availability of Python bindings ( pyhelios ) for controlling simulations, and a range of model types for 3D scene representation. Such model types include meshes, digital terrain models, point clouds and partially transmissive voxels, which are especially useful in laser scanning simulations of vegetation. In a scene, object models of different types can be combined, so that representations spanning multiple spatial scales in different resolutions and levels of detail are possible. HELIOS++ follows a modular design, where the core components of platform, scene, and scanner can be individually interchanged, and easily configured. HELIOS++ further allows the simulation of beam divergence using a subsampling strategy, and is able to create full-waveform outputs as a basis for detailed analysis. We show how HELIOS++ positions among other VLS software in terms of input model support and simulation of beam divergence in a literature survey. We also perform a direct comparison of simulations with DART, where we employ a scene from the Radiative Transfer Model Intercomparison (RAMI). This example shows that HELIOS++ takes about 10 times longer than DART for parsing and preparing the 3D scene, but performs about 314,000 times faster in the beam simulation, achieving 200,000 rays/s. Comparing HELIOS++ to its predecessor, HELIOS, revealed reduced runtimes by up to 99%. Virtually scanned point clouds may be used for a broad range of applications as shown in literature. We could identify four main categories of use cases prevailing at present, which benefit from simulated LiDAR point clouds: data acquisition planning, method evaluation, method training and sensing experimentation. We conclude that a general-purpose LiDAR simulator can be employed for many different scientific applications, as long as it is ensured that the simulation adequately represents reality, which is specific to the given research question.

Virtual laser scanning (VLS), the simulation of laser scanning in a computer environment, is a useful tool for field campaign planning, acquisition optimisation, and development and sensitivity analyses of algorithms in various disciplines including forestry research. One key to meaningful VLS is a suitable 3D representation of the objects of interest. For VLS of forests, the way trees are constructed influences both the performance and the realism of the simulations. In this contribution, we analyse how well VLS can reproduce scans of individual trees in a forest. Specifically, we examine how different voxel sizes used to create a virtual forest affect point cloud metrics (e.g., height percentiles) and tree metrics (e.g., tree height and crown base height) derived from simulated point clouds. The level of detail in the voxelisation is dependent on the voxel size, which influences the number of voxel cells of the model. A smaller voxel size (i.e., more voxels) increases the computational cost of laser scanning simulations but allows for more detail in the object representation. We present a method that decouples voxel grid resolution from final voxel cube size by scaling voxels to smaller cubes, whose surface area is proportional to estimated normalised local plant area density. Voxel models are created from terrestrial laser scanning point clouds and then virtually scanned in one airborne and one UAV-borne simulation scenario. Using a comprehensive dataset of spatially overlapping terrestrial, UAV-borne and airborne laser scanning field data, we compare metrics derived from simulated point clouds and from real reference point clouds. Compared to voxel cubes of fixed size with the same base grid size, using scaled voxels greatly improves the agreement of simulated and real point cloud metrics and tree metrics. This can be largely attributed to reduced artificial occlusion effects. The scaled voxels better represent gaps in the canopy, allowing for higher and more realistic crown penetration. Similarly high accuracy in the derived metrics can be achieved using regular fixed-sized voxel models with notably finer resolution, e.g., 0.02 m. But this can pose a computational limitation for running simulations over large forest plots due to the ca. 50 times higher number of filled voxels. We conclude that opaque scaled voxel models enable realistic laser scanning simulations in forests and avoid the high computational cost of small fixed-sized voxels.

In this paper we report on a flight experiment employing airborne laser bathymetry (ALB) and unmanned aerial vehicle (UAV) based laser scanning (ULS) for capturing very high resolution topography of shallow water areas and the surrounding littoral zone at the pre-alpine Pielach River in Austria. The aim of the research is to assess how information gained from non-bathymetric, ultra-high resolution ULS can support the ALB data. We focus first on the characterization of the water surface of a lowland river and provide validation results using the data of a topographic airborne laser scanning (ALS) sensor and a low flying ULS system. By repeat ULS survey of a the meandering river reach we are able to quantify short-term water level changes due to surface waves in high resolution. Based on a hydrodynamic-numerical (HN) model we assess the accuracy of the water surface derived from a water penetrating ALB sensor. In the second part of the paper we investigate the ability of ALB, ALS, and ULS to describe the complex topography and vegetation structure of the alluvial area. This is carried out by comparing the Digital Terrain Models (DTM) derived from different sensor configurations. Finally we demonstrate the potential of ULS for estimating single tree positions and stem diameters for detailed floodplain roughness characterization in HN simulations. The key findings are: (i) NIR scan data from ALS or ULS provide more precise water level height estimates (no bias, 1σ: 2 cm) compared to ALB (bias: 3 cm, 1σ: 4 cm), (ii) within the studied reach short-term water level dynamics irrelevant for ALB data acquisition considering a 60 cm footprint diameter, and (iii) stem diameters can be estimated based on ULS point clouds but not from ALS and ALB.

LiDAR-based forest inventories focusing on estimating and mapping structure-related forest inventory variables across large areas have reached operationality. In the commonly applied area-based approach, a set of field-measured inventory plots is combined with spatially co-located airborne laserscanning data to train empirical models that can then be used to predict the target metric over the entire area covered by LiDAR data.The area-based approach was found to produce reliable estimates for structure-related forest inventory metrics such as wood volume and biomass across many forest types. However, the current workflows still leave space for improvement that may result in cost-reduction with respect to data acquisition or improved accuracies. This is particularly relevant as the area-based approach is increasingly used in operational forestry settings. To further optimize existing workflows, experiments are required that need large amounts of forest inventory data (e.g., to examine the effect of sample size or the field inventory design on the model performances) or multiple LiDAR acquisitions (e.g., to identify optimal/cost-efficient acquisition settings). The acquisition of these types of data is cost-intensive and is hence often limited to small extents within scientific experiments.Here, we present the ”GeForse - Generating Synthetic Forest Remote Sensing Data” approach to create synthetic LiDAR datasets suitable for such optimization studies. GeForse combines a database of single-tree models consisting of point clouds extracted from real LiDAR data with the outputs of a spatially explicit, single tree-based forest growth simulator (in this case SILVA). For each simulated tree, we insert a real point-cloud tree with properties (species, crown diameter, height) matching the properties of the simulated tree. This results in a synthetic 3D forest with a realistic 3D-structure where the inventory metrics of each tree are known. This 3D forest then serves as input to the “Heidelberg LiDAR Operations Simulator” (HELIOS++, https://github.com/3dgeo-heidelberg/helios) and thereby enables the simulation of LiDAR acquisition flights with varying acquisition settings and flight trajectories. In combination with the “full inventory” of all trees in the simulated forest, this enables a wide variety of sensitivity analyses.In this contribution, we give an overview of the complete GeForse approach from extracting the tree models, to generating the 3D forest and simulating LiDAR flights over the 3D forest using HELIOS++. Further, we present a brief case-study where this approach was applied to optimize certain aspects of area-based forest inventory approaches using LiDAR data from a forest area in central Europe. Finally, we provide an outlook on future application fields of the GeForse approach.