Pig body size parameter measuring method based on point cloud

A technology of parameter measurement and body size, applied in the field of whole pig measurement, it can solve the problems of large number of camera groups, inconvenient measurement, and dependence on additional light sources, etc., and achieve the effect of high precision, high sensitivity and low labor.

Pending Publication Date: 2020-09-01
HEBEI UNIV OF TECH
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Problems solved by technology

[0002] At present, the pig breeding industry is a livelihood industry that is closely related to people's lives. In the process of pig breeding, the size and weight of pigs are important indicators for judging the quality of a pig, but it is often inconvenient to measure the size of pigs. ; People o

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  • Pig body size parameter measuring method based on point cloud
  • Pig body size parameter measuring method based on point cloud
  • Pig body size parameter measuring method based on point cloud

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Embodiment Construction

[0064] Further describe the present invention below in conjunction with embodiment and accompanying drawing thereof:

[0065] A method for measuring pig body size parameters based on point clouds. In the process of mapping the camera coordinate system to the image coordinate system, because the light is more deflected away from the center of the lens, and the lens is not completely parallel to the image plane, considering The scale factor of the coordinate axis, so it is proposed to use the Zhang Zhengyou calibration method to calibrate the depth camera, and find the internal parameters, that is, the parameter matrix (f x ,f y ,c x ,c y ) and distortion coefficient (three radial k 1 ,k 2 ,k 3 , two tangential p 1 ,p 2 ), and the external parameters, that is, the rotation vector R (a vector of size 1×3 or a 3×3 rotation matrix) and the translation vector T (T x , T y , T z ), so that the collected point cloud can be more accurate.

[0066] According to a method for m...

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Abstract

The invention discloses a pig body size parameter measurement method based on point cloud, and relates to the field of whole pig measurement. According to the method, a Kinect calibration method is used for calibrating Kinect; related parameters of a Kinect camera of the system are obtained; two Kinects are erected at the top of a pig house; the distance between the two cameras is set to be 3000 mm to 4000 mm. The cameras are connected with a computer through a connecting device; a hardware system for point cloud detection is formed; pig point cloud data is collected; the acquired point clouddata is denoised through conditional filtering, statistical filtering and voxel filtering denoising algorithms to remove outliers through multi-element Gaussian distribution abnormal point detection,point cloud coarse registration is carried out on denoised point cloud through SAC-IA, point cloud fine registration is made through an ICP algorithm to obtain pig overall point cloud, and pig body size parameters are acquired through a geometrical characteristic extraction algorithm. The method has the advantages of high sensitivity, high precision and low labor intensity, and has very importantsignificance.

Description

technical field [0001] The invention belongs to the technical field of whole pig measurement, in particular to a method for measuring body size parameters of pigs based on point clouds. Background technique [0002] At present, the pig breeding industry is a livelihood industry that is closely related to people's lives. In the process of pig breeding, the size and weight of pigs are important indicators for judging the quality of a pig, but it is often inconvenient to measure the size of pigs. ; People often use cameras to collect and measure, use monocular or double-sided cameras to match parallax images, and rely more on additional light sources; too many camera groups are used, and the data collection cannot be streamlined and accurate; the data collection process is more cumbersome. [0003] After retrieval, the Chinese patent application number is CN200710119509.8, which discloses a method for monitoring the growth of pigs using binocular vision technology, which includ...

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Application Information

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IPC IPC(8): G06T7/80G06T7/33G06T5/40G06T5/00
CPCG06T7/80G06T7/33G06T5/002G06T5/40G06T2207/10028Y02P90/30
Inventor 耿艳利柳鹏飞宣伯凯张昕宋朋首
Owner HEBEI UNIV OF TECH
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