Automatic calibration and registration method for livestock three-dimensional reconstruction mobile equipment

Abstract

The invention discloses an automatic calibration and registration method for livestock three-dimensional reconstruction mobile equipment. The method comprises the following steps: setting a depth camera to perform point cloud data acquisition; selecting a cubic calibration object; obtaining the point cloud of the calibration object through the depth camera, and completing the conversion from a depth camera coordinate system to a world coordinate system through the position relation; marking out a minimum bounding box according to the distance position between the cubic calibration object and the depth camera; processing the original point cloud so as to determine and separate a fitting plane parallel to the front surface of the depth camera, and fitting the fitting plane through a plane model; determining key points on a fitting plane parallel to the front surface of the depth camera, and finally obtaining coordinates (x, y, z) of the key points; performing pairwise registration operation on the fitting plane, calculating registration parameters, and finally obtaining related transformation matrixes R and T; and evaluating and detecting the transformation matrixes R and T. The method provided by the invention is high in calibration speed and accurate, and is not constrained and influenced by the external environment.

Description

technical field [0001] The invention relates to the technical field of three-dimensional reconstruction of livestock, and more specifically, to an automatic calibration and registration method for a mobile device for three-dimensional reconstruction of livestock. Background technique [0002] Livestock such as pigs, cattle, sheep, etc. need to measure body shape data regularly to obtain data such as body length, body height, body width, and abdominal circumference. Livestock body condition scoring based on fast and efficient automatic measurement of body size data. [0003] The acquisition angle of the depth camera is limited. In order to obtain a complete 3D point cloud of livestock, it is necessary to obtain point cloud data from different angles at the same time to cover the full outline of the livestock. Depth camera parameters are divided into internal parameters and external parameters. The internal parameters are determined by the mechanical characteristics of the ca...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem that in the farm environment, due to the limitations of the field and the professional knowledge of the operators, manual calibration and instrument calibration cannot quickly and accurately complete the multi-point cloud registration problem, and provides a livestock three-dimensional reconstruction mobile device The automatic calibration and registration method, in the breeding environment, specify the measurement range and fix the three depth cameras at any position in the upper, left and right directions, then the automatic calibration and registration can be used, which is not disturbed by human factors, and the registration speed is fast. high accuracy

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