Method and system for locating a stem of a target tree

• US 8,275,547 B2
• Filed: 09/30/2009
• Issued: 09/25/2012
• Est. Priority Date: 09/30/2009
• Status: Active Grant

• Current Assignee: Hudson Power Technologies LLC
• Original Assignee: Utility Risk Management Corporation LLC
• Inventors: Rousselle, Adam Robert, Leppanen, Vesa Johannes, Kinnunen, Jari Tapio, DeJong, Alan John, Clymer, Hugh Andrew, Dalmasse, Leighton Edward
• Primary Examiner(s): Bennett, G. Bradley
• Application Number:
  US12/570,779
• Publication Number:
  US 20100205219A1
• Time in Patent Office: 1,091 Days
• Field of Search: 33/1.A, 332/27, 332/28, 335/21, 702/2, 702/5, 702/150
• US Class Current: 702/2
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G06Q 10/10 Office automation; Time management

Abstract

A method for locating a stem of a target tree is disclosed. The target tree is identified from a sensing dataset. At least one slice is created from the sensing dataset. The at least one slice includes at least a portion of the target tree. A tree stem location of the target tree is determined from the at least one slice. A system for locating a stem of a target tree is also disclosed. The system has a processor configured to implement the described method. The system also has a data input coupled to the processor and configured to provide the processor with the sensing dataset. The system further has a user interface coupled to either the processor or the data input.

Claims

1. A method for locating a stem of a target tree, comprising:

identifying the target tree from a sensing dataset;

creating at least one slice from the sensing dataset, the at least one slice including at least a portion of the target tree; and

determining a tree stem location of the target tree from the at least one slice.

2. The method of claim 1, wherein the sensing dataset comprises a three-dimensional dataset.

3. The method of claim 1, wherein the sensing dataset comprises data selected from the group consisting of light detection and ranging (LiDAR) data, laser scanning data, radar data, synthetic aperture radar data, data from any sensor based on scanning distance-measurement and providing point clouds, digital imagery, video, or hyperspectral imaging data.

4. The method of claim 1, further comprising gathering the sensing dataset.

5. The method of claim 4, wherein gathering the sensing dataset further comprises aerially gathering the sensing dataset.

6. The method of claim 1, wherein identifying the target tree from the sensing dataset comprises identifying a crown of the target tree from the sensing dataset.

7. The method of claim 1, wherein identifying the target tree from the sensing dataset comprises identifying a highest point of a crown of the target tree from the sensing dataset.

8. The method of claim 1, wherein the at least one slice created from the sensing dataset comprises a two-dimensional slice.

9. The method of claim 1, wherein the at least one slice created from the sensing dataset comprises a cross-sectional slice.

10. The method of claim 1, wherein the at least one slice comprises a substantially vertical slice.

11. The method of claim 1, wherein the sensing dataset is supported by a supporting dataset.

12. The method of claim 1, wherein determining the tree stem location of the target tree from the at least one slice further comprises fitting a stem location curve to the included portion of the target tree based on tree data in the at least one slice.

13. The method of claim 12, wherein:

the at least one slice further includes a terrain;

fitting the stem location curve to the included portion of the target tree comprises fitting the stem location curve from the included portion of the target tree to the terrain; and

a stem origin is defined where the stem location curve intersects the terrain.

14. The method of claim 13, further comprising:

displaying at least one of the stem location curve or the stem origin along with a representation of the at least one slice.

15. The method of claim 13, further comprising:

predicting whether at least one tree point of interest on the target tree is liable to intersect with a safety buffer zone by rotating the at least one tree point of interest around a bearing point related to the stem location curve.

16. The method of claim 15, wherein the at least one tree point of interest is selected from a group consisting of a part of the stem location curve, an end of the stem location curve opposite the terrain, the included portion of the target tree, and a user-selected point in the at least one slice.

17. The method of claim 15, wherein the bearing point related to the stem location curve is selected from the group consisting of:

the stem origin;

a root offset from the stem origin;

a distance along the stem location curve from the stem origin; and

a position on the stem location curve at a designated height from the terrain.

18. The method of claim 15, wherein the safety buffer zone is selected from the group consisting of a power line safety buffer zone, a railroad track safety buffer zone, a railroad overhead conductor safety buffer zone, a phone line safety buffer zone, a phone line safety buffer zone, and a communication cable safety buffer zone.

19. The method of claim 15, further comprising:

if it is predicted that the at least one tree point of interest on the target tree is liable to intersect with the safety buffer zone, then taking an action selected from the group consisting of;

notifying a user of a possible intersection with the safety buffer zone;

displaying one or more possible points of intersection with the safety buffer zone;

attributing a tree database with an interaction table record that describes an interaction between the target tree and the safety buffer zone;

flagging the target tree on a map as needing service due to possible intersection with the safety buffer zone; and

generating a work order to have the target tree mitigated.

20. A computer readable storage medium, having stored thereon instructions for locating a stem of a target tree, which, when executed by a processor, cause the processor to:

provide a sensing dataset;

identify the target tree from the sensing dataset;

create at least one slice from the sensing dataset, the at least one slice including at least a portion of the target tree; and

determine a tree stem location of the target tree from the at least one slice.

21. The computer readable storage medium of claim 20, wherein the instructions, which, when executed by the processor, cause the processor to determine the tree stem location of the target tree from the at least one slice further comprise instructions to fit a stem location curve to the included portion of the target tree based on tree data in the at least one slice.

22. The computer readable storage medium of claim 21, wherein:

the at least one slice further includes a terrain;

the instructions to fit the stem location curve to the included portion of the target tree comprise instructions to fit the stem location curve from the included portion of the target tree to the terrain; and

the computer readable storage medium further has instructions stored thereon for defining a stem origin where the stem location curve intersects the terrain.

23. The computer readable storage medium of claim 22, further comprising instructions stored thereon for:

displaying at least one of the stem location curve or the stem origin along with a representation of the at least one slice.

24. The computer readable storage medium of claim 22, further comprising instructions stored thereon for:

predicting whether at least one tree point of interest on the target tree is liable to intersect with a safety buffer zone by rotating the at least one tree point of interest around a bearing point related to the stem location curve.

25. The computer readable storage medium of claim 24, wherein the at least one tree point of interest is selected from a group consisting of a part of the stem location curve, an end of the stem location curve opposite the terrain, the included portion of the target tree, and a user-selected point in the at least one slice.

26. The computer readable storage medium of claim 24, wherein the bearing point related to the stem location curve is selected from the group consisting of:

the stem origin;

a root offset from the stem origin;

a distance along the stem location curve from the stem origin; and

a position on the stem location curve at a designated height from the terrain.

27. The computer readable storage medium of claim 24, wherein the safety buffer zone comprises a power line safety buffer zone.

28. The computer readable storage medium of claim 24, further comprising instructions for:

if it is predicted that the at least one tree point of interest on the target tree is liable to intersect with the safety buffer zone, then taking an action selected from the group consisting of;

notifying a user of a possible intersection with the safety buffer zone;

displaying one or more possible points of intersection with the safety buffer zone;

attributing a tree database with an interaction table record that describes an interaction between the target tree and the safety buffer zone;

flagging the target tree on a map as needing service due to possible intersection with the safety buffer zone; and

generating a work order to have the target tree mitigated.

29. A graphical user interface for use on an electronic device, the graphical user interface for locating a stem of a target tree and comprising:

a dataset selection control configured to provide a sensing dataset;

a target selection control configured to identify the target tree from the sensing dataset;

a slice control configured to create at least one slice from the sensing dataset, the at least one slice including at least a portion of the target tree; and

a stem location display configured to display a tree stem location of the target tree which is determined from the at least one slice.

30. The graphical user interface of claim 29, wherein the target selection control is further configured to identify a crown of the target tree.

31. The graphical user interface of claim 29, further comprising a curve control configured to fit a stem location curve to tree data from the at least one slice.

32. The graphical user interface of claim 31, wherein:

the stem location display is further configured to display a terrain from the at least one slice; and

the curve control is further configured to fit the stem location curve such that it intersects the terrain.

33. The graphical user interface of claim 32, further comprising:

a bearing control configured to select a bearing point relative to the stem location curve.

34. The graphical user interface of claim 32, wherein the stem location display is further configured to display a safety buffer zone such that it can be determined from looking at the stem location display whether or not at least one tree point of interest on the target tree is liable to intersect with the safety buffer zone if the at least one tree point of interest is rotated around a bearing point.

35. A system for locating a stem of a target tree, comprising:

a) a processor configured to;

1) identify the target tree from a sensing dataset;

2) create at least one slice from the sensing dataset, the at least one slice including at least a portion of the target tree; and

3) determine a tree stem location of the target tree from the at least one slice;

b) a data input coupled to the processor and configured to provide the processor with the sensing dataset; and

c) a user interface coupled to either the processor or the data input.

36. The system of claim 35, further comprising a database coupled to the processor.

37. The system of claim 35, further comprising a database coupled to the data input.

38. The system of claim 35, further comprising a sensing data capture device coupled to the data input.

39. The system of claim 38, wherein the sensing data capture device is selected from the group consisting of a light detection and ranging (LiDAR) system, a laser scanning system, a radar system, a synthetic aperture radar system, a system using a sensor based on scanning distance-measurement and providing 3D point clouds, a digital imaging system, and a hyperspectral imaging system.

40. The system of claim 38, wherein the sensing data capture device is coupled to the data input by a wireless connection.

41. The system of claim 35, wherein the processor and the data input are coupled together via a network.

42. The system of claim 35, wherein the processor is further configured to determine the tree stem location of the target tree from the at least one slice further comprise instructions to fit a stem location curve to the included portion of the target tree based on tree data in the at least one slice.

43. The system of claim 42, wherein:

the at least one slice further includes a terrain;

the processor configuration to fit the stem location curve to the included portion of the target tree comprise a configuration to fit the stem location curve from the included portion of the target tree to the terrain; and

the processor is further configured to define a stem origin where the stem location curve intersects the terrain.

44. The system of claim 43, wherein the processor is further configured to display at least one of the stem location curve or the stem origin along with a representation of the at least one slice.

45. The system of claim 43, wherein the processor is further configured to predict whether at least one tree point of interest on the target tree is liable to intersect with a safety buffer zone by rotating the at least one tree point of interest around a bearing point related to the stem location curve.

46. The system of claim 45, wherein the at least one tree point of interest is selected from a group consisting of a part of the stem location curve, an end of the stem location curve opposite the terrain, the included portion of the target tree, and a user-selected point in the at least one slice.

47. The system of claim 45, wherein the bearing point related to the stem location curve is selected from the group consisting of:

the stem origin;

a root offset from the stem origin;

a distance along the stem location curve from the stem origin; and

a position on the stem location curve at a designated height from the terrain.

48. The system of claim 45, wherein the safety buffer zone is selected from the group consisting of a power line safety buffer zone, a railroad track safety buffer zone, a railroad overhead conductor safety buffer zone, a phone line safety buffer zone, and a communication cable safety buffer zone.

49. The system of claim 45, wherein the processor is further configured to take an action selected from the group consisting of:

notifying a user of a possible intersection with the safety buffer zone;

displaying one or more possible points of intersection with the safety buffer zone;

attributing a tree database with an interaction table record that describes an interaction between the target tree and the safety buffer zone;

flagging the target tree on a map as needing service due to possible intersection with the safety buffer zone; and

generating a work order to have the target tree mitigated;

if it is predicted that the at least one tree point of interest on the target tree is liable to intersect with the safety buffer zone.

50. A method for locating a stem of a target tree, comprising:

a) identifying the target tree from an aerially gathered three-dimensional sensing dataset selected from the group consisting of;

1) light detection and ranging (LiDAR) data;

2) laser scanning data;

3) radar data;

4) synthetic aperture radar data; and

5) data from a sensor based on scanning distance-measurement and providing 3D point clouds;

the target tree being identified by identifying at least one of a crown or a highest point of a crown of the target tree from the sensing dataset;

b) creating at least one substantially vertical slice from the sensing dataset, the at least one slice including;

1) at least a portion of the target tree; and

2) a terrain;

c) determining a tree stem location of the target tree from the at least one slice by fitting a stem location curve from the included portion of the target tree to the terrain based on tree data in the at least one slice;

d) defining a stem origin where the stem location curve intersects the terrain;

e) displaying at least one of the stem location curve or the stem origin along with a representation of the at least one slice;

f) predicting whether at least one tree point of interest on the target tree is liable to intersect with a safety buffer zone by rotating the at least one tree point of interest around a bearing point related to the stem location curve, wherein;

1) the at least one tree point of interest is selected from a group consisting of a part of the stem location curve, an end of the stem location curve opposite the terrain, the included portion of the target tree, and a user-selected point in the at least one slice;

2) the bearing point related to the stem location curve is selected from the group consisting of the stem origin, a root offset from the stem origin, a distance along the stem location curve from the stem origin, a position on the stem location curve at a designated height from the terrain; and

g) if it is predicted that the at least one tree point of interest on the target tree is liable to intersect with the safety buffer zone, then taking an action selected from the group consisting of;

1) notifying a user of a possible intersection with the safety buffer zone;

2) displaying one or more possible points of intersection with the safety buffer zone;

3) attributing a tree database with an interaction table record that describes an interaction between the target tree and the safety buffer zone;

4) flagging the target tree on a map as needing service due to possible intersection with the safety buffer zone; and

5) generating a work order to have the target tree mitigated.