  We present a solution for autonomous forest inventory with a legged robotic
platform. Compared to their wheeled and aerial counterparts, legged platforms
offer an attractive balance of endurance and low soil impact for forest
applications. In this paper, we present the complete system architecture of our
forest inventory solution which includes state estimation, navigation, mission
planning, and real-time tree segmentation and trait estimation. We present
preliminary results for three campaigns in forests in Finland and the UK and
summarize the main outcomes, lessons, and challenges. Our UK experiment at the
Forest of Dean with the ANYmal D legged platform, achieved an autonomous survey
of a 0.96 hectare plot in 20 min, identifying over 100 trees with typical DBH
accuracy of 2 cm.
