Abstract
We present a solution for autonomous forest inventory with a legged robotic platform. Compared to their wheeled and aerial counterparts, legged platforms offer an attractive balance of endurance and low soil impact for forest applications. In this paper, we present the complete system architecture of our forest inventory solution which includes state estimation, navigation, mission planning, and real-time tree segmentation and trait estimation. We present preliminary results for three campaigns in forests in Finland and the UK and summarize the main outcomes, lessons, and challenges. Our UK experiment at the Forest of Dean with the ANYmal D legged platform, achieved an autonomous survey of a 0.96 hectare plot in 20 min, identifying over 100 trees with typical DBH accuracy of 2 cm.
Abstract (translated)
我们提出了一个具有腿式机器人平台的自主森林清查解决方案。与轮式和空中平台相比，腿式平台具有持久的耐久性和对土壤的低影响，对于森林应用具有吸引力。在本文中，我们介绍了我们森林清查方案的完整系统架构，包括状态估计、导航、任务规划和实时树分割和特征估计。我们总结了三个国家（芬兰和英国）的森林中的初步结果，包括主要结论、经验教训和挑战。在德文森林中使用ANYmal D腿式平台进行的实验，在20分钟内实现了对0.96公顷铺面的自主调查，识别了超过100棵具有典型DBH精度的树木。
URL
https://arxiv.org/abs/2404.14157
