Abstract
The maintenance and management of mountain forest needs special knowledge and skill, and contains various dangerous tasks. Thus, the shortage of workers and aging of manager cause the problem of increasing unmanaged forests. In this research, we are developing "Teleoperated mountain forest maintenance robot system", which assist human work semi-autonomously. In this paper, we will design a recognition method of positions and diameters of forest trees, based on the sensor fusion of a camera and a laser range finder, and discuss localization and mapping problem using surrounding trees. The experimental results illustrate the validity of the proposed method.
