A LIDAR-Based Tree Canopy Characterization under Simulated Uneven Road Condition: Advance in Tree Orchard Canopy Profile Measurement

Figure 3

(a) Positive direction of laser sensor rotation. (b) Sensor-fixed and ground coordinate systems. Note: is the roll angle, is the pitch angle, and is the yaw angle. The coordinate systems , and and , and are the ground coordinate system and the sensor-fixed coordinate system, respectively.

(a)

(b)