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It is usually manual work with a clearing saw. Mechanized solutions have been proposed, but they have not worked out well, since the driver has challenges in seeing the seedling trees that should be left growing. Instead, we demonstrate that a semiautonomous forest machine could do the cleaning operation using a suitable map of the environment. We propose using a low\u2010cost unmanned aerial vehicle (UAV) to map the area beforehand, and a real\u2010time perception system onboard the forest machine performing the semiautonomous late cleaning of a seedling spruce stand with the help of a driver using a dedicated human\u2013machine interface (HMI). In the proposed solution, overlapping color images are collected by a UAV to build a map that integrates both color and depth information. This map is used to detect the young spruce trees, among other species. We also propose a graph\u2010based point\u2010cloud matching method, which can precisely locate the forest machine on the map using forest machine\u2010mounted sensors. An HMI is developed to improve the situational awareness of the operator in the forest machine cabin during the cleaning process. The proposed integrated solution has been demonstrated in a real seedling spruce forest.<\/jats:p>","DOI":"10.1002\/rob.22539","type":"journal-article","created":{"date-parts":[[2025,3,11]],"date-time":"2025-03-11T17:12:30Z","timestamp":1741713150000},"page":"2701-2719","update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Towards a Semiautonomous Young Spruce Forest Late Cleaning"],"prefix":"10.1002","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1589-8541","authenticated-orcid":false,"given":"Issouf","family":"Ouattara","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering and Automation Aalto University Espoo Uusimaa Finland"}]},{"given":"Jyri","family":"Hallikas","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Automation Aalto University Espoo Uusimaa Finland"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4664-6221","authenticated-orcid":false,"given":"Heikki","family":"Hyyti","sequence":"additional","affiliation":[{"name":"Department of Remote Sensing and Photogrammetry, Finnish Geospatial Research Institute (FGI) National Land Survey of Finland Masala, Kirkkonummi Finland"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6253-8357","authenticated-orcid":false,"given":"Arto","family":"Visala","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Automation Aalto University Espoo Uusimaa Finland"}]}],"member":"311","published-online":{"date-parts":[[2025,3,4]]},"reference":[{"key":"e_1_2_10_2_1","volume-title":"Agisoft Metashape User Manual, Professional Edition, Version 1.5 [Computer Software Manual]","author":"Agisoft L. 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