森林環境における樹木の位置とサイズを計測する飛行ロボットのセンシングとナビゲーション
Sensing and Navigation of Aerial Robot for Measuring Tree Location and Size in Forest Environment
森林で自律飛行するドローンが樹木を認識・計測し、データベースを生成するシステムを開発し、実環境で飛行実験を行った。
著者: Tomoki Anzai, Moju Zhao, Fan Shi, Kei Okada, Masayuki Inaba
分類: cs.RO
原文アブストラクト
This paper shows the achievement of a sensing and navigation system of aerial robot for measuring location and size of trees in a forest environment autonomously. Although forestry is an important industry in Japan, the working population of forestry is decreasing. Then, as an application of mechanization of forestry, we propose tree data collection system by aerial robots which have high mobility in three-dimensional space. First, we develop tree recognition and measurement method, along with algorithm to generate tree database. Second, we describe aerial robot navigation system based on tree recognition. Finally, we present an experimental result in which an aerial robot flies in a forest and collects tree data.
