 The TerraLuma UAV LiDAR system has been developed to take advantage of the unique capabilities of UAVs for collecting high resolution data at high temporal and spatial resolution. This includes the ability to capture HD video, GPS and IMU data simultaneously, which allows for the development of a new processing workflow that can accurately determine the trajectory of the UAV during flight. This enables the creation of a dense point cloud with up to 62 points per square meter, which can be used to measure the location, height and crown width of individual trees with greater accuracy than previously possible. This article was authored by Darren Turner, Luke Wallace, Arco Lucier and others.