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.
翻译：本文展示了在森林环境中自主测量树木位置和大小的航空机器人遥感和导航系统的成就。虽然林业是日本的一个重要产业,但林业的劳动人口正在减少。然后,作为林业机械化的应用,我们提议由在三维空间具有高度流动性的航空机器人收集树木数据系统。首先,我们开发了树识别和测量方法以及生成树数据库的算法。第二,我们描述了基于树识别的空中机器人导航系统。最后,我们提出了一个实验结果,即空中机器人在森林飞行并收集树木数据。
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