arXiv subjects

Teemu Hakala

Publications and source records attributed to Teemu Hakala.

9 recordsLinked to original sources

arXiv2026

Multispectral airborne laser scanning dataset for tree species classification: MS-ALS-SPECIES

The shift from stand-level to individual-tree-level forest assessments supports improved species mapping and biodiversity monitoring, particularly in boreal ecosystems where tree species like aspen (Populus tremula L.) play a keystone role. Airborne laser scanning (ALS) is the standard for such inventories, but a major limitation for developing improved species classification methods is the small number of publicly available ALS datasets containing high-quality, field-validated reference data. Recently, multispectral ALS data has shown promise for tree species classification, but the progress is hindered by the lack of open multispectral ALS datasets with high-quality field reference data. This paper presents and details an open multispectral ALS dataset for tree species classification that was used before its public release for an international benchmarking study of machine learning and deep learning classification methods in a related publication by Taher et al.,(2026). The dataset comprises 6326 segment-level point clouds of individual trees representing nine species in southern Finland. The point cloud data has been acquired using two multispectral laser scanning systems each operating at three laser wavelengths: a helicopter-borne system (HeliALS) with a point density exceeding 1000 points\m2 and an Optech Titan system with approximately 35 points\m2. Furthermore, we present a crowdsourcing application that facilitates the collection of high-quality field reference data of tree species in an efficient and scalable manner. Our article showcases the versatility of the open dataset by presenting new analyses on species classification using multispectral data building upon the initial findings of Taher et al.,(2026).

cs.CV↗

arXiv2026

Field evaluation and optimization of a lightweight autonomous lidar-based UAV system based on a rigorous experimental setup in boreal forest environments

Interest in utilizing autonomous uncrewed aerial vehicles (UAVs) for under-canopy forest remote sensing has increased in recent years, resulting in the publication of numerous autonomous flight algorithms in the scientific literature. To support the selection and development of such algorithms, a reliable comparison of existing approaches based on published studies is essential. However, reliable comparisons are currently challenging due to widely varying experimental setups and incomplete reporting practices. This study proposes a standardized experimental setup for evaluating autonomous under-canopy UAV systems to fill this gap. The proposed setup emphasizes quantitative reporting of forest complexity, visual representation of test environments, execution of multiple repeated flights, and reporting of flight success rates alongside qualitative flight results. In addition, flights at multiple target speeds are encouraged, with reporting of realized flight speed, mission completion time, and point-to-point flight distance. The proposed setup is demonstrated using a lightweight lidar-based quadrotor employing state-of-the-art open-source algorithms, evaluated through extensive experiments in two natural boreal forest environments. Based on a systematic evaluation of the original system, several improvements were introduced. The same experimental protocol was then repeated with the optimized system, resulting in a total of 93 real-world flights. The optimized system achieved success rates of 12/15 and 15/15 at target flight speeds of 1 m/s and 2 m/s, respectively, in a medium-difficulty forest, and 12/15 and 5/15 in a difficult forest. Adoption of the proposed experimental setup would facilitate the literature-based comparison of autonomous under-canopy flight systems and support systematic performance improvement of future UAV-based forest robotics solutions.

cs.RO↗

arXiv2025

Towards autonomous photogrammetric forest inventory using a lightweight under-canopy robotic drone

Drones are increasingly used in forestry to capture high-resolution remote sensing data, supporting enhanced monitoring, assessment, and decision-making processes. While operations above the forest canopy are already highly automated, flying inside forests remains challenging, primarily relying on manual piloting. In dense forests, relying on the Global Navigation Satellite System (GNSS) for localization is not feasible. In addition, the drone must autonomously adjust its flight path to avoid collisions. Recently, advancements in robotics have enabled autonomous drone flights in GNSS-denied obstacle-rich areas. In this article, a step towards autonomous forest data collection is taken by building a prototype of a robotic under-canopy drone utilizing state-of-the-art open source methods and validating its performance for data collection inside forests. Specifically, the study focused on camera-based autonomous flight under the forest canopy and photogrammetric post-processing of the data collected with the low-cost onboard stereo camera. The autonomous flight capability of the prototype was evaluated through multiple test flights in boreal forests. The tree parameter estimation capability was studied by performing diameter at breast height (DBH) estimation. The prototype successfully carried out flights in selected challenging forest environments, and the experiments showed promising performance in forest 3D modeling with a miniaturized stereoscopic photogrammetric system. The DBH estimation achieved a root mean square error (RMSE) of 3.33 - 3.97 cm (10.69 - 12.98 %) across all trees. For trees with a DBH less than 30 cm, the RMSE was 1.16 - 2.56 cm (5.74 - 12.47 %). The results provide valuable insights into autonomous under-canopy forest mapping and highlight the critical next steps for advancing lightweight robotic drone systems for mapping complex forest environments.

cs.RO↗

arXiv2025

Deep Learning-based Robust Autonomous Navigation of Aerial Robots in Dense Forests

Autonomous aerial navigation in dense natural environments remains challenging due to limited visibility, thin and irregular obstacles, GNSS-denied operation, and frequent perceptual degradation. This work presents an improved deep learning-based navigation framework that integrates semantically enhanced depth encoding with neural motion-primitive evaluation for robust flight in cluttered forests. Several modules are incorporated on top of the original sevae-ORACLE algorithm to address limitations observed during real-world deployment, including lateral control for sharper maneuvering, a temporal consistency mechanism to suppress oscillatory planning decisions, a stereo-based visual-inertial odometry solution for drift-resilient state estimation, and a supervisory safety layer that filters unsafe actions in real time. A depth refinement stage is included to improve the representation of thin branches and reduce stereo noise, while GPU optimization increases onboard inference throughput from 4 Hz to 10 Hz. The proposed approach is evaluated against several existing learning-based navigation methods under identical environmental conditions and hardware constraints. It demonstrates higher success rates, more stable trajectories, and improved collision avoidance, particularly in highly cluttered forest settings. The system is deployed on a custom quadrotor in three boreal forest environments, achieving fully autonomous completion in all flights in moderate and dense clutter, and 12 out of 15 flights in highly dense underbrush. These results demonstrate improved reliability and safety over existing navigation methods in complex natural environments.

cs.RO↗

arXiv2025

Benchmarking individual tree segmentation using multispectral airborne laser scanning data: the FGI-EMIT dataset

Individual tree segmentation (ITS) from LiDAR point clouds is fundamental for applications such as forest inventory, carbon monitoring and biodiversity assessment. Traditionally, ITS has been achieved with unsupervised geometry-based algorithms, while more recent advances have shifted toward supervised deep learning (DL). In the past, progress in method development was hindered by the lack of large-scale benchmark datasets, and the availability of novel data formats, particularly multispectral (MS) LiDAR, remains limited to this day, despite evidence that MS reflectance can improve the accuracy of ITS. This study introduces FGI-EMIT, the first large-scale MS airborne laser scanning benchmark dataset for ITS. Captured at wavelengths 532, 905, and 1,550 nm, the dataset consists of 1,561 manually annotated trees, with a particular focus on small understory trees. Using FGI-EMIT, we comprehensively benchmarked four conventional unsupervised algorithms and four supervised DL approaches. Hyperparameters of unsupervised methods were optimized using a Bayesian approach, while DL models were trained from scratch. Among the unsupervised methods, Treeiso achieved the highest test set F1-score of 52.7%. The DL approaches performed significantly better overall, with the best model, ForestFormer3D, attaining an F1-score of 73.3%. The most significant difference was observed in understory trees, where ForestFormer3D exceeded Treeiso by 25.9 percentage points. An ablation study demonstrated that current DL-based approaches generally fail to leverage MS reflectance information when it is provided as additional input features, although single channel reflectance can improve accuracy marginally, especially for understory trees. A performance analysis across point densities further showed that DL methods consistently remain superior to unsupervised algorithms, even at densities as low as 10 points/m$^2$.

cs.CV↗

arXiv2024

Detecting Wildfires on UAVs with Real-time Segmentation Trained by Larger Teacher Models

Early detection of wildfires is essential to prevent large-scale fires resulting in extensive environmental, structural, and societal damage. Uncrewed aerial vehicles (UAVs) can cover large remote areas effectively with quick deployment requiring minimal infrastructure and equipping them with small cameras and computers enables autonomous real-time detection. In remote areas, however, detection methods are limited to onboard computation due to the lack of high-bandwidth mobile networks. For accurate camera-based localisation, segmentation of the detected smoke is essential but training data for deep learning-based wildfire smoke segmentation is limited. This study shows how small specialised segmentation models can be trained using only bounding box labels, leveraging zero-shot foundation model supervision. The method offers the advantages of needing only fairly easily obtainable bounding box labels and requiring training solely for the smaller student network. The proposed method achieved 63.3% mIoU on a manually annotated and diverse wildfire dataset. The used model can perform in real-time at ~25 fps with a UAV-carried NVIDIA Jetson Orin NX computer while reliably recognising smoke, as demonstrated at real-world forest burning events. Code is available at: https://gitlab.com/fgi_nls/public/wildfire-real-time-segmentation

cs.CV↗

arXiv2024

Unsupervised semantic segmentation of urban high-density multispectral point clouds

The availability of highly accurate urban airborne laser scanning (ALS) data will increase rapidly in the future, especially as acquisition costs decrease, for example through the use of drones. Current challenges in data processing are related to the limited spectral information and low point density of most ALS datasets. Another challenge will be the growing need for annotated training data, frequently produced by manual processes, to enable semantic interpretation of point clouds. This study proposes to semantically segment new high-density (1200 points per square metre on average) multispectral ALS data with an unsupervised ground-aware deep clustering method GroupSP inspired by the unsupervised GrowSP algorithm. GroupSP divides the scene into superpoints as a preprocessing step. The neural network is trained iteratively by grouping the superpoints and using the grouping assignments as pseudo-labels. The predictions for the unseen data are given by over-segmenting the test set and mapping the predicted classes into ground truth classes manually or with automated majority voting. GroupSP obtained an overall accuracy (oAcc) of 97% and a mean intersection over union (mIoU) of 80%. When compared to other unsupervised semantic segmentation methods, GroupSP outperformed GrowSP and non-deep K-means. However, a supervised random forest classifier outperformed GroupSP. The labelling efforts in GroupSP can be minimal; it was shown, that the GroupSP can semantically segment seven urban classes (building, high vegetation, low vegetation, asphalt, rock, football field, and gravel) with oAcc of 95% and mIoU of 75% using only 0.004% of the available annotated points in the mapping assignment. Finally, the multispectral information was examined; adding each new spectral channel improved the mIoU. Additionally, echo deviation was valuable, especially when distinguishing ground-level classes.

cs.CV↗

arXiv2018

ICN enabling CoAP Extensions for IP based IoT devices

The Constrained Application Protocol (CoAP) and its extensions, such as observe and group communication, offer the potential for developing novel IoT applications. However, a full-fledged CoAP-based application requires delay-tolerant communication and support for multicast: since these properties cannot be easily provided by existing IP networks, developers cannot take full advantage of CoAP, preferring to use HTTP instead. In this demo we show how proxying CoAP traffic over an ICN network can unleash the full potential of CoAP, simultaneously shifting overhead and complexity from the (constrained) endpoints to the network.

cs.NI↗

arXiv2017

CoAP over ICN

The Constrained Application Protocol (CoAP) is a specialized Web transfer protocol for resource-oriented applications intended to run on constrained devices, typically part of the Internet of Things. In this paper we leverage Information-Centric Networking (ICN), deployed within the domain of a network provider that interconnects, in addition to other terminals, CoAP endpoints in order to provide enhanced CoAP services. We present various CoAP-specific communication scenarios and discuss how ICN can provide benefits to both network providers and CoAP applications, even though the latter are not aware of the existence of ICN. In particular, the use of ICN results in smaller state management complexity at CoAP endpoints, simpler implementation at CoAP endpoints, and less communication overhead in the network.

cs.NI↗