Three-dimensional modeling method of elevated in-situ strawberry based on contour segmentation

A 3D modeling and strawberry technology, applied in 3D modeling, image analysis, image data processing, etc., can solve the problems that the 3D model of the whole plant cannot be established, the 3D shape model modeling technology has not been reported, and the collection process is complicated.

Inactive Publication Date: 2017-05-10
CHINA AGRI UNIV
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Problems solved by technology

The 3D digitizer can collect the information of various points of the plant from multiple angles, but the collection process is complicated and has strict requirements on the external environmental conditions
In the depth point cloud acquired by the PMD camera, there are edge jump data at the edge, and there ar

Method used

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  • Three-dimensional modeling method of elevated in-situ strawberry based on contour segmentation
  • Three-dimensional modeling method of elevated in-situ strawberry based on contour segmentation
  • Three-dimensional modeling method of elevated in-situ strawberry based on contour segmentation

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Embodiment

[0133] Present embodiment data collection adopts the mode of camera overhead shooting, selects ripe stage strawberry as test object, strawberry parietal leaf and camera lens distance are about 50cm, guarantees that there is at least one complete strawberry in the multi-source image (due to the obtained by PMD camera The image resolution is 200×200 pixels, so a color picture with a spatial resolution of 320×240 pixels is used as supplementary information).

[0134] In this embodiment, the process flow of the three-dimensional modeling method suitable for greenhouse elevated strawberry plants in situ is as follows figure 1 shown, including the following steps:

[0135] Step S101, select the Harris operator as the feature corner point extraction tool, extract the corner points of the intensity image and the color image respectively, and extract 14 pairs of points with the same name according to the gray mean value of the 8 neighborhoods near the corner point as the similarity mea...

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Abstract

The invention relates to the technical field of three-dimensional image generation, and specifically relates to a three-dimensional modeling method of strawberry plants. The method comprises the following steps: calculating a central point of vector field convolution, selecting a multi-objective initial contour control point, and applying an active contour model of a parameter to intensity image over-segmentation; and adopting a labeling method to convert a segmented contour into a point cloud set, taking the point cloud set as a unit to construct a plane fitting selection mechanism, and finally finishing modeling and display of a three-dimensional model of the elevated in-situ strawberry, and carrying out an exploratory research for the construction of a local vision scene for an agricultural intelligent robot. The method of the invention can perform three-dimensional modeling on in-situ plants, which effectively overcomes the limitation that the traditional modeling method cannot build a three-dimensional model of a whole plant in a greenhouse environment, and improves the utilization ratio of collected data.

Description

technical field [0001] The invention relates to the technical field of three-dimensional image generation, in particular to an elevated in-situ strawberry three-dimensional modeling method based on contour segmentation. Background technique [0002] Plant 3D modeling based on measured data is an important link in the research and application of agricultural digitalization. The established plant 3D model can not only quickly measure crop parameters, explore the law of plant growth and development, but also study the distribution characteristics of plant branches and leaves. It is easy and fast to establish , accurate target search method, and provide new technical support for the construction of plant scenes for intelligent agricultural robots. [0003] At present, there are three types of plant 3D modeling and acquisition equipment at home and abroad: 3D digitizers, laser scanners and depth cameras TOF (Time of Flight) cameras. The 3D digitizer can collect the information o...

Claims

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Application Information

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IPC IPC(8): G06T7/149G06T17/00
CPCG06T17/00
Inventor 刘刚张雪郭彩玲宗泽张伟洁
Owner CHINA AGRI UNIV
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