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      Lecture 1, Feb 26 & Mar 4: Arrangements, Current CTL Forest Machines, Harvester + Forwarder Folder

      Arrangements

      • Lectures: Arto.Visala@aalto.fi on Mondays in the beginning (maybe also on Wednesday later) 12:15- 12:00 TU4
      • Lectures cover the main content of the course.
      • The automatic driving in forest is illustrated in a small Polaris eATV-project, done individually.
      • Exam or 7 x Study Diaries 65 % and the report of the project above 35%.
      • Study Diary is a one A4 page summary about each lecture set, written by hand. Take a photo, convert it to pdf and sent arto.visala@aalto.fi.

      Current CTL Forest Machines, Harvester + Forwarder

      • The best way to learn the state of art current forest machines to look at www-pages of the leading
      companies. Videos illustrate the operation. Look particularly what is represented about control systems and harvesting information systems.
      • Smart machines means semiautonomous operations in easy conditions and that the machines with modern perception devices are becoming producers of big data. 

      https://www.ponsse.com/#/
      https://www.deere.com/en/forestry-and-logging/cut-to-length-logging/

    • Folder icon
      Lecture 2, Mar 11: 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

    • Folder icon
      Lecture 3, March 18: 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)

    • Folder icon
      Lecture 4, March 2024: 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


    • Folder icon
      Lecture 5, April 8: 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