Plant point cloud segmentation method and system based on two-dimensional-three-dimensional integration and storage medium

A technology of 3D point cloud and 3D integration, applied in neural learning methods, image analysis, image data processing, etc., can solve the problems of plant leaf occlusion and low segmentation accuracy, reduce manual intervention and improve measurement The effect of improving efficiency and improving accuracy

Active Publication Date: 2021-03-09
GUANGDONG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present invention aims to solve at least to a certain extent the technical defects in the point cloud segmentation described in the above-mentioned prior art that the segme

Method used

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  • Plant point cloud segmentation method and system based on two-dimensional-three-dimensional integration and storage medium
  • Plant point cloud segmentation method and system based on two-dimensional-three-dimensional integration and storage medium
  • Plant point cloud segmentation method and system based on two-dimensional-three-dimensional integration and storage medium

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Embodiment 1

[0053] Such as figure 1 As shown, a plant point cloud segmentation method based on 2D-3D integration includes the following steps:

[0054] S1. Collect multiple images of plants at different angles;

[0055]S2. Reconstructing the three-dimensional point cloud model of the plant through the motion restoration structure algorithm of the plurality of images, and simultaneously obtaining the mapping relationship between each image and the three-dimensional point cloud model;

[0056] S3. Preprocessing the point cloud data in the three-dimensional point cloud model obtained in step S2;

[0057] S4. Based on the mapping relationship between each image obtained in S2 and the three-dimensional point cloud model, the two-dimensional image segmentation result is obtained; meanwhile, based on the preprocessing data obtained in S3, the segmentation result based on the plant three-dimensional point cloud model is trained;

[0058] S5. Linearly weighted integration of the two-dimensional ...

Embodiment 2

[0094] The present invention further provides a plant point cloud segmentation system based on 2D-3D integration, which includes one or more processors; and also includes a storage device for storing one or more programs, wherein, when the one or more When the program is executed by the one or more processors, the one or more processors execute the plant point cloud segmentation method based on 2D-3D integration described in Embodiment 1.

Embodiment 3

[0096] The present invention also provides a computer-readable medium on which executable instructions are stored. When the instructions are executed by a processor, the processor executes the plant point cloud segmentation method based on 2D-3D integration described in Embodiment 1.

[0097] The same or similar reference numerals correspond to the same or similar components;

[0098] The terms describing the positional relationship in the drawings are only for illustrative purposes and cannot be interpreted as limitations on this patent;

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Abstract

The invention provides a plant point cloud segmentation method based on two-dimensional and three-dimensional integration. Firstly, multi-angle images of a plant are shot, then a three-dimensional point cloud model of the plant is reconstructed through a motion recovery structure (SFM) algorithm, and meanwhile the mapping relation between each image and the three-dimensional point cloud model is obtained. Preprocessing operations such as denoising are carried out on the reconstructed point cloud model, and a segmentation result based on the three-dimensional point cloud model is trained by using a Point Net network model. And meanwhile, based on the mapping relationship between each image and the three-dimensional point cloud model, a segmentation result is acquired based on the two-dimensional image of the plant through a MaskRCNN network. Finally, linear weighted integration is performed on the two-dimensional and three-dimensional results to obtain a final plant point cloud segmentation result. The invention also provides a system for realizing the plant point cloud segmentation method based on the two-dimensional and three-dimensional integration and a storage medium for enabling the processor to execute the plant point cloud segmentation method based on the two-dimensional and three-dimensional integration.

Description

technical field [0001] The present invention relates to the field of three-dimensional point cloud segmentation of plants, and more specifically, to a plant point cloud segmentation method, system and storage medium based on two-dimensional-three-dimensional integration. Background technique [0002] At present, the traditional methods of 3D point cloud model segmentation of plants include the segmentation method based on region growth and the segmentation method of deep learning. The segmentation method based on region growth mainly utilizes the geometric characteristics of stems and leaves of plants, and the stem is first segmented out through the region growth algorithm. , and then start from the intersection of stems and leaves, and then segment the point cloud of each leaf through region growth; this type of method has high requirements for the type of plants, and it is difficult to find an accurate threshold to segment the plants, so it needs to be done manually many ti...

Claims

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Application Information

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IPC IPC(8): G06T7/55G06T7/11G06N3/04G06N3/08
CPCG06T7/55G06T7/11G06N3/08G06T2207/10004G06T2207/10028G06T2207/20081G06T2207/20084G06N3/045
Inventor 曾安钟旭升潘丹彭杰威罗琳吴楠卓东海刘立程
Owner GUANGDONG UNIV OF TECH
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