This research was conducted to derive forest sample plot inventory parameters from terrestrial LiDAR (T-LiDAR) for estimating above ground biomass (AGB)/carbon stocks in primary tropical rain forest. Inventory parameters of all sampled trees within circular plots of 500 m2 were collected from field observations while T-LiDAR data were acquired through multiple scanning using Reigl VZ-400 scanner. Pre-processing and registration of multiple scans were done in RSCAN PRO software. Point cloud constructing individual sampled tree was extracted and tree inventory parameters (diameter at breast height-DBH and tree height) were measured manually. AGB/carbon stocks were estimated using Chave ...