IMAGE-BASED NAVIGATION OF FOREST HARVESTERS
The focus of this paper the use of multi-image matching techniques in forestry applications. Background of the study is the problem of navigating heavy harvesters through skidder trails on their way to harvesting individual trees. Maneuvering these heavy vehicles over unprotected forest ground lea...
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| Format: | Article |
| Language: | English |
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Copernicus Publications
2012-07-01
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| Series: | The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| Online Access: | https://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XXXIX-B3/59/2012/isprsarchives-XXXIX-B3-59-2012.pdf |
| Summary: | The focus of this paper the use of multi-image matching techniques in forestry applications. Background of the study is the problem
of navigating heavy harvesters through skidder trails on their way to harvesting individual trees. Maneuvering these heavy vehicles
over unprotected forest ground leads to irreversible soil compression and degradation effects. Therefore, harvester operators strive to
navigate in a way that exactly the same (already compressed) path is used when they enter a skidder trail for a second time. For this
task, vehicle navigation on a decimeter accuracy level is required. Data of existing techniques, such as GPS, IMU and/or odometry
are error prone, because of difficulties like fluctuating signal strength of satellites caused by dense plant canopy, drift of IMU without
update, and slippery, rough ground for wheel decoding. A camera, as a passive sensor, may avoid these problems, as it is largely
independent to those outer influences. |
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| ISSN: | 1682-1750 2194-9034 |