Real-time flora detection and geometric traits extraction using a mobile robot

A method for detecting flora in an agricultural area, the method comprising:

• programming a robot to travel through at least a portion of the agricultural area, the robot including a drive system configured for moving the robot through the agricultural area, a camera for collecting two-dimensional image data associated with flora items in the agricultural area, and a light detection and ranging (LiDAR) system including at least one sensor programmed for detecting signals and collecting data indicative of a three-dimensional coordinate system of the agricultural area;
• generating, by a processor, at least one cluster representative of a flora item detected in the agricultural area with a three-dimensional detection module;
• fusing, by the processor, at least portions of image data collected by the camera, data collected by the LiDAR system, and cluster data associated with the detected flora item with the three-dimensional detection module;
• and
• matching, by the processor, the detected flora item to a map comprising at least one landmark flora item reference with a correspondence module programmed for matching.