Crop seedling stage height detection method based on RGB-D depth camera
A depth camera and height detection technology, applied in the field of agricultural plant protection, can solve the problems of not being able to effectively resist interference, affecting the accuracy of measurement results, affecting crop height measurement, etc., to achieve the effect of eliminating tilt errors and avoiding interference
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Embodiment 1
[0056] Embodiment 1: This embodiment provides a method for detecting the height of crops at the seedling stage (when bare land can be observed) based on an RGB-D depth camera. The detection method includes the following steps.
[0057] Step 1. Sensor data acquisition
[0058]When the distance between the crop canopy, the ground plane and the depth camera is within the effective range of the camera, the depth camera and the IMU attitude sensor are installed as vertically as possible to look down on the ground, and the following is obtained: figure 1 The original image IMG is shown. While ensuring that the time frames of each data are consistent and the registration relationship between the depth image and the RGB image pixels, so that the pixel position and size of the same object in the two images are the same, the depth image and RGB image are obtained from the attitude sensor through the data channel. and gesture.
[0059] Step 2. Find the crop position based on the RGB im...
Embodiment 2
[0098] Embodiment 2: The similarities between this embodiment and Embodiment 1 will not be described in detail. The difference is that when correcting the attitude, in addition to the method of Embodiment 1, it can also be corrected by means of point clouds. The method is as follows .
[0099] (1) Obtain a point cloud from the original depth image, and perform a rotation operation on the point cloud;
[0100] (2) Take the rotated point cloud as a top-view ortho image.
[0101] (3) Register (align) the ortho image with the RGB image to obtain the corrected depth image D1.
Embodiment 3
[0102] Embodiment 3: The similarities between this embodiment and Embodiment 1 will not be repeated, and the difference is that when the crop height is calculated, the crop range can also be directly filtered, and the minimum value Dmin in the area is taken, Use the difference between the ground depth G and Dmin, and take the absolute value to obtain the crop height H at this position, H=|G-Dmin|.
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