“…For example, LiDAR was used to: determine the volume of perennial biomass of Vitis vinifera L. to facilitate the calculation of annual biomass production, accumulation and carbon cycle within the vineyard (Keightley and Bawden, 2010); evaluate the vegetative density of Miscanthus  giganteus (Zhang and Grift, 2012); quantify the biomass of winter rye (Ehlert and Heisig, 2013) and other species (Ehlert et al, 2008); obtain the vertical plant area density profiles of wheat (Triticum aestivum L.) canopy at different growth stages (Hosoi and Omasa, 2009); estimate the crop density in front of a combine harvester, together with different methods of online data-processing (Saeys et al, 2009); estimate the vertical profile of plant area density of rice (Hosoi and Omasa, 2012). In all the examples above, scans are aimed at increasing the information content of the operator/ end-user with respect to the crop in the field, but there are also examples where a LiDAR device was used on plants that are antagonistic of the cultivation, for example to characterize the weed vegetation in the inter-row area of a maize field (Andújar et al, 2013), or on the harvested fruits on a conveyor, to estimate their bulk volume and total mass (Jadhav et al, 2014). In this work, following the approach of Sanz-Cortiella et al (2011) and Lee and Ehsani (2009) about a ground-level tractorbased scanning, the development of a LiDAR system integrated in an autonomous or tele-operated mobile vehicle is presented.…”