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

机译：使用LiDAR的半自动砍伐机器人的树干检测系统

获取原文

页面导航

摘要
著录项
相似文献
相关主题

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.

机译：为了成功倒下树木，半自动机器人设备必须能够识别人工林环境中树木的位置，大小和方向。提出了一种使用从光检测和测距（LiDAR）扫描仪收集的数据来识别上述树木特性的方法。通过搜索水平方向的法向矢量，从聚集的点云中检测出树木，然后将其形成簇，在这些簇上执行圆柱拟合。使用三种不同的森林场景对该方法进行了验证，以测试其有效性。

著录项

来源
《IEEE Conference on Industrial Electronics and Applications》|2015年|84-89|共6页
会议地点
作者
Kolb Alexander; Meaclem Christopher; XiaoQi Chen; Parker Richard; Gutschmidt Stefanie; Milne Bart;
展开▼
作者单位

展开▼
会议组织
原文格式 PDF
正文语种
中图分类
关键词
curve fitting; forestry; manipulators; mobile robots; object detection; optical radar; robot vision; vegetation; LiDAR scanner; Light Detection And Ranging; cylinder fitting; forest scene; horizontally directed normal vectors; plantation forest; point cloud; semiautonomous robotic device; semiautonomous tree felling robot; tree orientation identification; tree position identification; tree property; tree size identification; tree trunk detection system; Biological system modeling; Gravity; Laser radar; Object recognition; Robots; Three-dimensional displays; Vegetation;

机译：曲线拟合;林业;机械手;移动机器人;目标检测;光学雷达;机器人视觉;植被; LiDAR扫描仪;光检测和测距;圆柱拟合;森林场景;水平定向法向矢量;人工林;点云;半自动机器人设备;半自动砍伐机器人;树木方向识别;树木位置识别;树木性质;树木大小识别;树干检测系统;生物系统建模;重力;激光雷达;目标识别;机器人;三维显示;植被;

相似文献

外文文献
中文文献
专利

1. Development of a Voronoi diagram based tree trunk detection system for mobile robots used in agricultural applications [J] . Bayar Gokhan Industrial Robot . 2017,第4期

机译：用于农业应用中使用的移动机器人的Voronoi图基树干检测系统的开发
2. Effects of Hurricane-Felled Tree Trunks on Soil Carbon, Nitrogen, Microbial Biomass, and Root Length in a Wet Tropical Forest [J] . D. Jean Lodge, Dirk Winter, Grizelle González, Forests . 2016,第11期

机译：飓风砍伐的树干对湿热带森林土壤碳，氮，微生物生物量和根长的影响
3. Sampling design for efficient detection of pine wood nematode, Bursaphelenchus xylophilus, in diseased trees using a DNA detection kit: variation across branch, trunk and tree [J] . Nakabayashi Yuuki, Aikawa Takuya, Matsushita Michinari, Nematology . 2018,第Pta7期

机译：使用DNA检测试剂盒的患病树，患有患病树的高效检测的抽样设计
4. Tree trunk detection system using LiDAR for a semi-autonomous tree felling robot [C] . Kolb Alexander, Meaclem Christopher, XiaoQi Chen, IEEE Conference on Industrial Electronics and Applications . 2015

机译：树干检测系统使用激光器为半自动树砍伐机器人
5. Tree species mapping around reclaimed oil and gas wells sites using hyperspectral and light detection and ranging (LiDAR) remote sensing [D] . Banting, James 2016

机译：使用高光谱和光检测与测距（LiDAR）遥感技术在填海油气井场周围绘制树种
6. Semi-autonomous Simulated Brain Tumor Ablation with RavenII Surgical Robot using Behavior Tree [O] . Danying Hu, Yuanzheng Gong, Blake Hannaford, -1

机译：使用行为树的RavenII手术机器人半自动模拟脑肿瘤消融
7. Effects of Hurricane-Felled Tree Trunks on Soil Carbon, Nitrogen, Microbial Biomass, and Root Length in a Wet Tropical Forest [O] . D. Jean Lodge, Dirk Winter, Grizelle González, 2016

机译：飓风砍伐树干对湿热带森林土壤碳，氮，微生物量和根长的影响

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

摘要

著录项

相似文献

相关主题

期刊订阅