Canadian Forest Service Publications

Preliminary research on robotic vision in a regenerating forest environment. 1994. Gougeon, F.A.; Kourtz, P.H.; Strome, M. Pages 255-262 in A. Borkowski and J.L. Crowley, Editors. Proceedings of the International. Symposium on Intelligent Robotic Systems '94, July 11-15, 1994, Grenoble, France. Natural Resources Canada, Canadian Forest Service, Petawawa National Forestry Institute, Ottawa.

Year: 1994

Issued by: Pacific Forestry Centre

Catalog ID: 4582

Language: English

Availability: Order paper copy (free), PDF (download)

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Abstract

The Canadian Forest Service is investigating the potential of low-cost autonomous roving robots to perform repetitive stand-tending tasks that could improve forest productivity. Our first prototype, Jacob, should function much like a person with a brush saw, freeing young conifers from some of the competing vegetation. Following a brief description of Jacob, its task, and its sensing needs, we analyze some of the vision situations the robot will likely encounter and propose approaches and specific techniques that could be used. Image analysis techniques based respectively on color, structure, and spatial frequency content are described as applied to some of the more complex vision situations found during the summer season. Some preliminary results are presented with comments on the effectiveness, limitations and operational constraints of the techniques. Other approaches currently being researched, as well as other vision and sensing considerations, are briefly mentioned.