The leaf inclination angle is a fundamental variable for determining the plant profile. In this study, the leaf inclination angle was estimated automatically from voxel-based three-dimensional (3D) images obtained from lidar (light detection and ranging). The distribution of the leaf inclination angle within a tree was then calculated. The 3D images were first converted into voxel coordinates. Then, a plane was fitted to some voxels surrounding the point (voxel) of interest. The inclination angle and azimuth angle were obtained from the normal. The measured leaf inclination angle and its actual value were correlated and indicated a high correlation (R 2 = 0.95). The absolute error of the leaf inclination angle estimation was 2.5 • . Furthermore, the leaf inclination angle can be estimated even when the distance between the lidar and leaves is about 20 m. This suggests that the inclination angle estimation of leaves in a top part is reliable. Then, the leaf inclination angle distribution within a tree was calculated. The difference in the leaf inclination angle distribution between different parts within a tree was observed, and a detailed tree structural analysis was conducted. We found that this method enables accurate and efficient leaf inclination angle distribution.A 3D scanner called lidar (light detection and ranging) provides highly accurate and dense 3D point measurements [15,16]. The lidar is very useful for the retrieval of plant structural parameters. Trunk diameter and plant height can be estimated accurately [17][18][19]. Leaf area and parameters related to leaf area can be calculated from the 3D images of plants obtained by the lidar [20][21][22][23][24]. Other than the parameters above, tree volume and species can be estimated [25][26][27]. The detailed and accurate information from lidar provides a useful tool, for example, in the field of plant phenotyping [28]. Guo et al (2018) developed a high-throughput crop phenotyping platform with lidar that can retrieve various crop structural and physiological relevant parameters efficiently [29]. For more detailed information of the lidar application for plant structural parameters, please refer to the comprehensive reviews in [30,31].Some previous studies on leaf inclination angle estimation with 3D images are available [32][33][34][35][36][37]. In these studies, the points that composed each leaf were fitted to a plane by a least-squares method, and normals to the planes were calculated. Although this method is quite effective for leaf inclination angle estimation, each leaf should be selected manually in the 3D images one by one. Thus, exploring the distribution of the leaf inclination angle is very tedious and time-consuming. Further, owing to the manual operation, the number of leaves that can be examined is limited.To overcome this problem, a previous study [38] converted 3D point cloud images obtained with structure from a motion method into a voxel-based 3D image. In voxel-based 3D models, a geographical space is systematically decomposed into a ...