Plant point cloud collection registration and optimization method based on TOF camera

Abstract

The invention discloses a plant point cloud collection registration and optimization method based on a TOF camera. The plant point cloud collection registration and optimization method comprises the following steps: (1) placing a detected plant on a turntable, adjusting the visual angle of the TOF camera, and enabling the TOF camera to be aligned with the detected plant; (2) starting a rotary table to enable the rotary table to rotate automatically, and collecting point cloud data of a measured plant at intervals by a TOF camera; (3) performing real-time preprocessing on each frame of point cloud data acquired by the TOF camera; (4) performing registration and optimization processing on each two adjacent frames of point cloud data in sequence, and then performing integration to obtain complete plant point cloud data; and (5) eliminating discrete noise in the plant point cloud number obtained by registration and optimization processing by adopting statistical filtering processing to obtain final point cloud data. The plant point cloud collection registration and optimization method provided by the invention can effectively solve the local point cloud layering phenomenon.

Description

technical field [0001] The invention relates to the technical field of digital agriculture, in particular to a TOF camera-based method for collecting, registering and optimizing plant point clouds. Background technique [0002] At present, a variety of detection methods and equipment have been applied to the three-dimensional structure acquisition of objects in the industrial field, such as based on lidar, based on structured light, based on TOF camera (time of flight camera, Time of Flight), based on multi-eye vision and other principles Scanning equipment has been widely used. [0003] In the field of agriculture, due to factors such as the dynamics and flexibility of plants, and the diffuse reflection properties of plant leaf materials, the research and application of related instruments is relatively late. [0004] Among them, TOF is a simple, easy-to-install, and cost-effective technology. TOF cameras use active light sources to obtain 3D point clouds of plant objects,...

AI Technical Summary

Problems solved by technology

[0009] The above method can improve the registration accuracy and avoid the error caused by the traditional ICP registration algorithm, but the above method has high requirements for the mark detection of the turntable and the accuracy of the rotation axis setting

[0010] In the optimization part, the noise reduction method is usually used to improve the registration results, but this method cannot effectively solve the layering phenomenon of plant leaves, resulting in the obtained plant point cloud data still cannot be applied to subsequent research calculations

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