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Sensors 2012, 12(7), 9273-9285;

Laser Scanning Measurements on Trees for Logging Harvesting Operations

School of Technology, Beijing Forestry University, Beijing 100083, China
Author to whom correspondence should be addressed.
Received: 18 May 2012 / Revised: 26 June 2012 / Accepted: 3 July 2012 / Published: 5 July 2012
(This article belongs to the Special Issue Laser Sensing and Imaging)
Full-Text   |   PDF [494 KB, uploaded 21 June 2014]


Logging harvesters represent a set of high-performance modern forestry machinery, which can finish a series of continuous operations such as felling, delimbing, peeling, bucking and so forth with human intervention. It is found by experiment that during the process of the alignment of the harvesting head to capture the trunk, the operator needs a lot of observation, judgment and repeated operations, which lead to the time and fuel losses. In order to improve the operation efficiency and reduce the operating costs, the point clouds for standing trees are collected with a low-cost 2D laser scanner. A cluster extracting algorithm and filtering algorithm are used to classify each trunk from the point cloud. On the assumption that every cross section of the target trunk is approximate a standard circle and combining the information of an Attitude and Heading Reference System, the radii and center locations of the trunks in the scanning range are calculated by the Fletcher-Reeves conjugate gradient algorithm. The method is validated through experiments in an aspen forest, and the optimized calculation time consumption is compared with the previous work of other researchers. Moreover, the implementation of the calculation result for automotive capturing trunks by the harvesting head during the logging operation is discussed in particular. View Full-Text
Keywords: laser measurement; logging harvester; Fletcher-Reeves conjugate gradient; kinematics control laser measurement; logging harvester; Fletcher-Reeves conjugate gradient; kinematics control
This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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Zheng, Y.; Liu, J.; Wang, D.; Yang, R. Laser Scanning Measurements on Trees for Logging Harvesting Operations. Sensors 2012, 12, 9273-9285.

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