To meet the demand for canopy morphological parameter measurements in orchards. a mobile scanning system is designed based on the 3D Simultaneous Localization and Mapping (SLAM) algorithm. The system uses a lightweight LiDAR-Inertial Measurement Unit (LiDAR-IMU) state estimator and a rotation-constrained optimization algorithm to reconstruct a point cloud map of the orchard. Then. https://thesexgardenes.shop/product-category/fetish-gear/