Livestock point cloud bidirectional fault region segmentation method and device

Abstract

The invention provides a livestock point cloud bidirectional fault region segmentation method and device, and the method comprises the steps: determining the main direction of livestock point cloud data, and carrying out the coordinate system construction of the point cloud data; performing vertical coordinate direction point cloud slice segmentation on the livestock point cloud data, and determining a leg circumference slice interested slice interval; for a plurality of slice point clouds in the interested slice interval of the leg circumference, extracting a clustering result of all points of each slice, and determining effective slices of the leg circumference according to the clustering result; carrying out coordinate system secondary reconstruction according to the position features of the leg circumference effective slices, carrying out transverse point cloud slice segmentation according to the point cloud data after secondary reconstruction, and determining a body size slice point cloud cluster. According to the method, the influence of livestock postures on body size calculation is overcome to a certain extent, the livestock is not required to keep a strictly straight posture, higher adaptability is achieved, interference of animal postures and individual differences is not likely to happen, and therefore the accuracy of a calculation result is higher.

Description

technical field [0001] The invention relates to the field of image processing, in particular to a method and a device for segmenting a point cloud of livestock in a bidirectional fault region. Background technique [0002] The body size parameters of animals in animal husbandry production can be used to estimate their growth status, calculate feed conversion efficiency, predict production and other animal welfare and economic indicators, and accordingly feed livestock animals in a differentiated way to achieve the best economic benefits and animal welfare. Welfare. In addition, the body size of animals is an important phenotypic data of genetic breeding results, which is of great significance to the evaluation of heritability and genetic value. [0003] The contact-type artificial body measurement of large animals is difficult and time-consuming, and the measurement results are easily affected by factors such as animal body swing, the actual position of the tape measure, an...

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Problems solved by technology

[0003] The contact-type artificial body measurement of large animals is difficult and time-consuming, and the measurement results are easily affected by factors such as animal body swing, the actual position of the tape measure, and the perceived reading error. It shows that the feed intake of live pigs will be significantly reduced by manual weighing, which proves that the contact measurement process interferes with animals and seriously affects the growth process of animals

[0004] In the calculation of animal body size based on the point cloud after 3D reconstruction, the current method is based on the recognition of "point" position, such as locating the bust cutting point through the extreme point of the pig's backline curve, and calculating the body length parameters of cattle and pigs through the root point of the cow's tail, etc. , the calculation of animal body size parameters by the method of point determination is easily disturbed by animal posture and individual differences, which makes the accuracy of calculation results lower

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