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      Lecture 1, Feb 27: Course arrangements, Current CTL Forest Machines, Harvester + Forwarder Folder
      Not available unless: You belong to L01 (SISU)
      Course arrangements, Current CTL Forest Machines, Harvester +  Forwarder
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      Lecture 2, Mar 2 & 6: Forest SLAM with LiDAR, Localizationg and Mapping Folder
      Not available unless: You belong to L01 (SISU)
      Forest SLAM with LiDAR, Localizationg and Mapping
      Positioning in forest, Forest SLAM with LiDAR, creating map of trees. Experiments with ATV , IEEE ICRA 2007. Also experiments with a real Forestry machine

      First 3D Forest SLAM
      Feature Based Modeling and Mapping of Tree Trunks and Natural Terrain Using 3D Laser Scanner Measurement System, IFAC IAV 2013
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      Lecture 3, March 8: Machine Vision in Forest SLAM Folder
      Not available unless: You belong to L01 (SISU)

      Machine Vision in Forest SLAM

      Measuring diameters of the stems of trees (Kosti Kangas)
      Classification of species of trees (Sampsa Kosonen)
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      Lecture 4, Mar 13 & 15, April 24: Machine perception in the harvester head Folder
      Not available unless: You belong to L01 (SISU)

      Machine perception in the harvester head

      BEFORE FELLING – MEASUREMENTS

      MOTION VISION, DEPTH IMAGE FROM OPTICAL FLOW

      BEFORE FELLING – MEASUREMENTS, STEREO VISION

      BEFORE FELLING – MEASUREMENTS, LiDAR

      DURING PROCESSING -METHODS


      DURING PROCESSING –Fiber optic blade camera, VTT

      DURING PROCESSING –CUT SURFACE IMAGE ANALYSIS , TTY Prof Ritala

       Lenght measurement using sequence of images

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      Lecture 5, April 26: Semiautonomous Cleaning of Young Forests Folder
      Not available unless: You belong to L01 (SISU)
      Semiautonomous Cleaning of Young Forests

      The prototype of a Semiautonomous Early Cleaning machine

      The Instrumentation of the crane

      Recognition of small trees with machine vision

      HMI

      Detection, Localization and Species Identification of Young Trees Using Machine Vision fro late cleaning


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      Lecture 6, May 22: Automatic control of the forestry crane or boom Folder
      Not available unless: You belong to L01 (SISU)
      Automatic control of the forestry crane or boom

      to be added

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      Lecture 7, May 24: Automatic driving in terrain, semiautonomous forwarder Folder
      Not available unless: You belong to L01 (SISU)
      Automatic driving in terrain, semiautonomous forwarder

      Introduction of project SUSTAINABLE AND COST-EFFICIENT SEMI-AUTONOMOUS FOREST MACHINE SYSTEM FOR THE CLIMATE CHANGE CHALLENGED FUTURE, AUTOLOGGER

      Positioning, Map of trees, Forest SLAM

      Dynamic models for the three test platforms

      Measuring the 3Dform of the driving path

      MPC-control for Automatic driving

      Teleoperation of unloading