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Using lidar in an area-based model-assisted approach to forest inventory has the potential to increase estimation precision for some forest inventory variables. This study documents the bias and precision of a model-assisted (regression estimation) approach to forest inventory with lidar-derived auxiliary variables relative to lidar pulse density and the number of sample plots. For managed forests on the Lewis portion of the Lewis-McChord Joint Base (35025 ha, 23290 forested) in western Washington state, we evaluated a regression estimator for combinations of pulse density (.05–3 pulses/m²) and sample size (15–105 plots) to estimate five forest yield variables: basal area, volume, biomass, number of stems, and Lorey's height. The results indicate that there is almost no loss in precision in using as few as .05 pulses/m² relative to 3 pulses/m². We demonstrate that estimation precision declined quickly for reduced …