Robinia pseudoacacia is widely planted in the Loess Plateau as a major soil and water conservation tree species because of its dense canopy, complex structure, and strong soil and water conservation ability. The precise measurement of small-scale locust forest biomass is crucial to monitoring and evaluating the carbon sequestration functions of soil and water conservation vegetation. This study focuses on an artificial locust forest planted in the early 1990s in Caijiachuan Basin, Jixian County, Shanxi Province. A drone equipped with LiDAR was used to obtain point cloud data and generate a canopy height model. A watershed segmentation algorithm was used to identify tree vertices and extract individual trees. A relationship model between tree height, diameter at breast height, and biomass, combined with sample survey data, was established to explore the spatial distribution of biomass in the artificial locust forest at the level of the entire basin. The results show the following: (1) the structural parameters of locust extracted using UAV point cloud data have a good degree of fit and accuracy, and the recall rate is 72.7%; (2) the average error rate of the extracted maximum tree height value of locust is 7%, that of the minimum tree height value is 14%, and that of the average tree height value is 18%; (3) the average error rate of the extracted maximum diameter at breast height of locust is 15%, that of the minimum diameter at breast height is 37%, and that of the average diameter at breast height is 36%; and (4) the average error rate of the biomass estimation of locust calculated using point cloud data is 16.0%.
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