| Summary: | Drones have been used in many purposes for a long time. Especially, development of the automatic observation systems such as measurement using drones for the primary sector of industry have been frequently researched in recent years. The measurement of a tree growth in a forest is also one of the aim for a drone application. In this study, our aim is to develop the automatic measurement system for size of a tree in a forest. The difficulties are that a drone has to recognize trees, to construct a map of a forest and to measure the size of trees from a front camera. To overcome those difficulties, we propose that a drone recognizes trees based on single shot multibox detector (SSD), constructs a map from simultaneous localization and mapping (SLAM) and measures a tree by structure from motion (SfM). Experimental results from the drone competition show that a drone has been able to recognize a tree and to fly safety.
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