Sensitivity of tree volume measurement to trajectory errors from a terrestrial LIDAR scanner

The use of terrestrial LIDARs in agriculture enables the measurement of structural parameters of the orchards such as the volume of the trees. The sequence of two-dimensional scans performed with a LIDAR attached to a tractor can be interpreted as the three-dimensional silhouette of the trees of the grove and used to estimate their volume. In this work, the sensitivity of the tree volume estimates relative to different error sources in the estimated spatial trajectory of the LIDAR is analyzed. Tests with pear trees have demonstrated that the estimation of the volume is very sensitive to errors in the determination of the distance from the LIDAR to the center of the trees (with errors up to 30% for an error of 50 mm) and in the determination of the angle of orientation of the LIDAR (with errors up to 30% for misalignments of 2°). Therefore, any experimental procedure for tree volume estimate based on a motorized terrestrial LIDAR scanner must include additional devices or procedures to control or estimate and correct these error sources.

Research highlights▶ Develop new research in robotics. ▶ Develop new applications for robotic equipment. ▶ Enhance the use of robots in agriculture. ▶ Enhance the use of LIDAR and vision systems in agriculture. ▶ The development of new interaction strategies with robots.