Abstract
Pruning machines which mount a large cutting machine have a risk of damaging surfaces of trunks. Although this problem is resolved by downsizing the cutting machine, it is necessary to recognize a position of individual branch and prune it actively because an area pruned by the cutting machine is small. For this purpose, we have developed the mapping system, called the branch map building system, which represents positions of branches based on distance information. In this study, by deliberating problems of the mapping system found through preconducted examinations, improvement methods for the problems are proposed. After describing the proposed method, their efficiency is shown through performance evaluation experiments.
