Log scanning system

A log scanning system for scanning a load of logs (log load), each individual log in the log load comprising an ID element comprising unique log ID data on at least one log end face, the system comprising:

• a handheld scanner unit for free-form scanning by an operator over a load end face of the log load, the scanner unit comprising sensors for depth sensing and texture sensing, the sensors configured to capture:
• a series of depth images of the load end face during the load end face scan;
• and
• a texture sensor configured to capture a series of texture images of the load end face during the load end face scan;
• and
• a data processor or processors that receives the series of depth images and texture images captured from the scan, and which are configured to:
• fuse the depth images into a data model of the load end face;
• determine log end boundaries of the individual logs visible in the load end face by processing the data model;
• process the texture images to identify and decode any ID elements visible in the scanned load end face to extract individual log ID data for individual logs in the log load;
• and
• generate output data representing the log load based on the determined log end boundaries and extracted log ID data.