Tree trunk detection system using LiDAR for a semi-autonomous tree felling robot

被引：0
|
作者：
Kolb, Alexander [1 ]
Meaclem, Christopher [2 ]
Chen, XiaoQi [2 ]
Parker, Richard [3 ]
Gutschmidt, Stefanie [2 ]
Milne, Bart [2 ]
机构：
[1] Esslingen Univ Appl Sci, Dept Mechatron & Elect Engn, Esslingen, Germany
[2] Univ Canterbury, Dept Mech Engn, Christchurch 1, New Zealand
[3] Scion Res, Christchurch, New Zealand
来源：
PROCEEDINGS OF THE 2015 10TH IEEE CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS | 2015年
关键词：
D O I：
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中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
To successfully fell a tree, semi-autonomous robotic devices must be capable of identifying the position, size and orientation of trees in the environment of a plantation forest. An approach is proposed to identify the aforementioned tree properties using data gathered from a Light Detection And Ranging (LiDAR) scanner. Trees are detected from the gathered point cloud by searching for horizontally directed normal vectors, then formed into clusters on which cylinder fitting is performed. This approach was verified using three different forest scenes to test its effectiveness.
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页码：84 / 89
页数：6
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