{"id":6961,"date":"2026-06-25T17:38:01","date_gmt":"2026-06-25T15:38:01","guid":{"rendered":"https:\/\/ist.blogs.inrae.fr\/afs\/?p=6961"},"modified":"2026-06-25T17:38:01","modified_gmt":"2026-06-25T15:38:01","slug":"a-lightweight-lidar-slam-system-integrated-with-semantic-segmentation-for-the-acquisition-of-forest-biomass-parameters","status":"publish","type":"post","link":"https:\/\/ist.blogs.inrae.fr\/afs\/2026\/06\/25\/a-lightweight-lidar-slam-system-integrated-with-semantic-segmentation-for-the-acquisition-of-forest-biomass-parameters\/","title":{"rendered":"A lightweight LiDAR-SLAM system integrated with semantic segmentation for the acquisition of forest biomass parameters"},"content":{"rendered":"<script type='text\/javascript' src='https:\/\/d1bxh8uas1mnw7.cloudfront.net\/assets\/embed.js'><\/script><p><span style=\"color: #0d5c06;font-size: 10pt\"><strong>Research paper<\/strong><\/span><\/p>\n<p><strong><a href=\"https:\/\/ist.blogs.inrae.fr\/afs\/wp-content\/uploads\/sites\/5\/2026\/06\/26-06-25_Zhao-Y.png\"><img loading=\"lazy\" decoding=\"async\" class=\" wp-image-6963 alignleft\" src=\"https:\/\/ist.blogs.inrae.fr\/afs\/wp-content\/uploads\/sites\/5\/2026\/06\/26-06-25_Zhao-Y-286x300.png\" alt=\"\" width=\"275\" height=\"288\" srcset=\"https:\/\/ist.blogs.inrae.fr\/afs\/wp-content\/uploads\/sites\/5\/2026\/06\/26-06-25_Zhao-Y-286x300.png 286w, https:\/\/ist.blogs.inrae.fr\/afs\/wp-content\/uploads\/sites\/5\/2026\/06\/26-06-25_Zhao-Y-976x1024.png 976w, https:\/\/ist.blogs.inrae.fr\/afs\/wp-content\/uploads\/sites\/5\/2026\/06\/26-06-25_Zhao-Y-768x806.png 768w, https:\/\/ist.blogs.inrae.fr\/afs\/wp-content\/uploads\/sites\/5\/2026\/06\/26-06-25_Zhao-Y-1464x1536.png 1464w, https:\/\/ist.blogs.inrae.fr\/afs\/wp-content\/uploads\/sites\/5\/2026\/06\/26-06-25_Zhao-Y-640x671.png 640w, https:\/\/ist.blogs.inrae.fr\/afs\/wp-content\/uploads\/sites\/5\/2026\/06\/26-06-25_Zhao-Y.png 1588w\" sizes=\"auto, (max-width: 275px) 100vw, 275px\" \/><\/a>Key message<\/strong><\/p>\n<p align=\"justify\">We propose a lightweight LiDAR-based simultaneous localization and mapping system that integrates semantic segmentation. The system was evaluated on forest point clouds collected in real-world forest environments and on multiple publicly available datasets. Results demonstrate that the proposed system is both efficient and accurate for individual-tree clustering and diameter at breast height estimation.<\/p>\n<p><strong>Keywords\u00a0<\/strong><br \/>\n3D LiDAR; Point cloud; Semantic segmentation<\/p>\n<div class='altmetric-embed' data-badge-type='donut' data-doi='10.1186\/s13595-026-01336-8'  style='float: right; ' ><\/div>\n<p><strong>Publication<\/strong><br \/>\nZhao, Y., Zhao, S., Zhou, Y.\u00a0<i>et al.<\/i>\u00a0A lightweight LiDAR-SLAM system integrated with semantic segmentation for the acquisition of forest biomass parameters.\u00a0<i>Annals of Forest Science<\/i>\u00a083, 21 (2026). <a href=\"https:\/\/doi.org\/10.1186\/s13595-026-01336-8\">https:\/\/doi.org\/10.1186\/s13595-026-01336-8<\/a><\/p>\n<p><strong>Data availability<\/strong><br \/>\nThe raw point cloud data recorded by LiDAR has been uploaded to the GitHub repository, and the link is:\u00a0<a href=\"https:\/\/github.com\/xiaopengfly513\/FSMD\">https:\/\/github.com\/xiaopengfly513\/FSMD<\/a>.<\/p>\n<p><strong>Handling editor<\/strong><br \/>\nShengli Tao<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Research paper Key message We propose a lightweight LiDAR-based simultaneous localization and mapping system that integrates semantic segmentation. The system was evaluated on forest point clouds collected in real-world forest environments and on multiple publicly available datasets. Results demonstrate that the proposed system is both efficient and accurate for individual-tree clustering and diameter at breast [&hellip;]<\/p>\n","protected":false},"author":240,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[14,1,109,15],"tags":[],"class_list":["post-6961","post","type-post","status-publish","format-standard","hentry","category-article-type","category-non-classe","category-open-access","category-research-paper","cat-14-id","cat-1-id","cat-109-id","cat-15-id"],"_links":{"self":[{"href":"https:\/\/ist.blogs.inrae.fr\/afs\/wp-json\/wp\/v2\/posts\/6961","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/ist.blogs.inrae.fr\/afs\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/ist.blogs.inrae.fr\/afs\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/ist.blogs.inrae.fr\/afs\/wp-json\/wp\/v2\/users\/240"}],"replies":[{"embeddable":true,"href":"https:\/\/ist.blogs.inrae.fr\/afs\/wp-json\/wp\/v2\/comments?post=6961"}],"version-history":[{"count":3,"href":"https:\/\/ist.blogs.inrae.fr\/afs\/wp-json\/wp\/v2\/posts\/6961\/revisions"}],"predecessor-version":[{"id":6965,"href":"https:\/\/ist.blogs.inrae.fr\/afs\/wp-json\/wp\/v2\/posts\/6961\/revisions\/6965"}],"wp:attachment":[{"href":"https:\/\/ist.blogs.inrae.fr\/afs\/wp-json\/wp\/v2\/media?parent=6961"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/ist.blogs.inrae.fr\/afs\/wp-json\/wp\/v2\/categories?post=6961"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/ist.blogs.inrae.fr\/afs\/wp-json\/wp\/v2\/tags?post=6961"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}