Quantification of hidden canopy volume of airborne laser scanning data using a voxel traversal algorithm

Our results at 1 m voxel size show that even with the highest average pulse density of 11 pulses/m2, at least 25% of the forest canopy volume remains occluded in the ALS acquisition under leaf-on conditions. Comparison with TLS acquisitions further showed that roughly 28% of the vegetation elements detected by the TLS acquisitions were not detected by the ALS system due to occlusion effects. By combining leaf-on and leaf-off acquisitions, we were able to recover roughly 7% of the occluded vegetation elements from the leaf-on acquisition. We find that larger flight strip overlap can significantly increase the amount of observed canopy volume due to the added observation angles and increased pulse density.