Fig. 2

Automatic stem detection from TLS. a Stem points identified by surface normal calculation. Some leaf points were falsely identified as stem points. b The “tube filter” to filter out non-stem points. The tube filter was applied on each red point shown in a. c Stem points after the implementation of the tube filter. d Continuous detection of stem points at different height layers. Three layers (red, yellow, and blue) are shown here as examples