We present a solution for autonomous forest inventory with a legged robotic platform. Compared to their wheeled and aerial counterparts, legged platforms offer an attractive balance of endurance and low soil impact for forest applications. In this paper, we present the complete system architecture of our forest inventory solution which includes state estimation, navigation, mission planning, and real-time tree segmentation and trait estimation. We present preliminary results for three campaigns in forests in Finland and the UK and summarize the main outcomes, lessons, and challenges. Our UK experiment at the Forest of Dean with the ANYmal D legged platform, achieved an autonomous survey of a 0.96 hectare plot in 20 min, identifying over 100 trees with typical DBH accuracy of 2 cm.

翻译：我们提出了一种基于腿足机器人平台的自主森林清查解决方案。相较于轮式和空中机器人，腿足平台在森林应用中兼具出色的续航能力与较低的土壤扰动影响。本文完整介绍了森林清查系统的架构，包括状态估计、导航、任务规划、实时树木分割与性状估计模块。我们展示了在芬兰和英国三处森林中开展的初步实验结果，总结了主要成果、经验教训与挑战。在英国迪恩森林中使用ANYmal D腿足平台进行的实验，在20分钟内完成了0.96公顷地块的自主勘测，识别出100余棵树木，胸径（DBH）测量精度典型值为2厘米。