Abstract: There is provided a method for generating labelled 3D data representations of real-world objects, comprising: —obtaining, using processing circuitry (110), a set of one or more pre-labelled 3D coordinate, each 3D coordinate in the set of one or more pre-labelled 3D coordinate representing a point on a real world object in a real world area, —for each of the one or more pre-labelled 3D coordinates in the obtained set: —obtaining a template volume to be applied to the 3D coordinate using the processing circuitry (110); —generating an object volume comprising the 3D coordinate, using the processing circuitry (110), by applying the obtained template volume to the 3D coordinate; and—labelling the generated object volume, by assigning the object label of the pre-labelled 3D coordinate to all 3D coordinates located within the generated object volume. Also provided are a system and computer program product.

Abstract: The present invention relates to a method for preparing for harvesting of forest using an un-manned vehicle (100) configured to move under the canopy in a forest region, the method comprising: for each of at least one object (110) within the forest region: —obtaining, using at least one sensor (120) of the un-manned vehicle (100), information associated with the object (110); —assigning an object identity (ID) to the object (110) based on the obtained sensor information, using processing circuitry (210) comprised in or accessible to the un-manned vehicle (100); and 10—associating a marker (130) with the object (110) and the obtained sensor information or the object identity (ID) assigned to the object (110). The invention also relates to an un-manned vehicle, a harvesting system and a non-transitory computer-readable storage medium.