This paper shows the achievement of a sensing and navigation system of aerial robot for measuring location and size of trees in a forest environment autonomously. Although forestry is an important industry in Japan, the working population of forestry is decreasing. Then, as an application of mechanization of forestry, we propose tree data collection system by aerial robots which have high mobility in three-dimensional space. First, we develop tree recognition and measurement method, along with algorithm to generate tree database. Second, we describe aerial robot navigation system based on tree recognition. Finally, we present an experimental result in which an aerial robot flies in a forest and collects tree data.

翻译：本文展示了空中机器人在森林环境中自主测量树木位置与大小的感知与导航系统实现。尽管林业是日本的重要产业，但林业从业人口正在减少。为此，作为林业机械化应用的一种方案，我们提出了利用三维空间高机动性的空中机器人进行树木数据采集系统。首先，我们开发了树木识别与测量方法，以及生成树木数据库的算法。其次，我们描述了基于树木识别的空中机器人导航系统。最后，我们展示了空中机器人在森林中飞行并采集树木数据的实验结果。