 The TerraLuma UAV LiDAR system has been developed to take advantage of the unique capabilities of UAVs for forestry applications. This system combines a GPS receiver, MU, and HD video camera to create a highly accurate 3D point cloud of the survey area. Additionally, the inclusion of video allows for improved horizontal accuracy of the final point cloud, reducing it from 0.61 meters to 0.34 meters, RMS error. Furthermore, the high density point cloud, up to 62 points per square meter, produced by the UAV LiDAR system reduces the standard deviation of tree height measurements from 0.26 meters to 0.15 meters, as well as the uncertainty of tree location and crown width measurements. This article was authored by Darren Turner, Luke Wallace, Arco Lucia, and others.