Yak individual and body size information identification method and device

Abstract

The invention provides a yak individual and body size information identification method and device, and relates to the technical field of image processing, and the method comprises the steps: carrying out the segmentation of the overall point cloud data of a to-be-detected yak through a clustering algorithm, and obtaining the angular point cloud data of the yak; according to curvature change of each yak horn data point in the yak horn point cloud data, determining a characteristic curve of yak horns, and according to the characteristic curve, determining yak horn length information of the to-be-detected yak and individual information of the to-be-detected yak; according to the yak horn length information and the yak overall point cloud data, determining age information of the to-be-detected yak to obtain yak hair information corresponding to the age information; determining yak carcass point cloud data of the to-be-detected yak according to yak hair point cloud data corresponding to the yak hair information and the whole yak point cloud data; and according to the yak carcass point cloud data, determining carcass body size measurement information of the to-be-measured yak.

Description

Technical Field

[0001] The present invention relates to the technical field of image processing, and in particular to a method and a device for identifying yak individual and body size information. Background Art

[0002] The traditional method of measuring the body size of yaks mainly relies on manual measurement. Due to the large size and strong wildness of yaks, it requires the cooperation of multiple adults, which consumes a lot of time and energy. The results of manual measurement are easily affected by the subjective factors of the operator, resulting in inconsistent measurement results. Long-term direct contact with humans can easily induce stress reactions in yaks, affecting their growth and development, and in severe cases may cause serious illness or even death. Contact measurement increases the risk of disease transmission and parasite transmission between humans and animals.

[0003] Therefore, how to effectively identify yak information has become a problem that needs to be urgently solved in the industry. Summary of the invention

[0004] The invention provides a method and a device for identifying individual yaks and their body size information, so as to solve the problem of how to effectively identify yak information in the prior art.

[0005] The present invention provides a method for identifying yak individuals and body size information, comprising the following steps.

[0006] The overall point cloud data of the yak to be tested is segmented by clustering algorithm to obtain the yak horn point cloud data; Determine a characteristic curve of the yak horn according to the curvature change of each yak horn data point in the yak horn point cloud data, and determine the yak horn length information and individual information of the yak to be tested according to the characteristic curve; Determine the age information of the yak to be tested according to the yak horn length information and the overall point cloud data of the yak, so as to obtain the yak hair information corresponding to the age information; Determine the yak carcass point cloud data of the yak to be tested according to the yak hair point cloud data corresponding to the yak hair information and the yak overall point cloud data; The body size measurement information of the yak carcass to be measured is determined according to the yak carcass point cloud data.

[0007] According to a method for identifying yak individual and body size information provided by the present invention, before the step of segmenting the yak overall point cloud data of the yak to be measured by a clustering algorithm to obtain the yak corner point cloud data, the method further includes: De-noising the initial yak point cloud data corresponding to the color depth map of the yak to be tested to obtain de-noised yak point cloud data; The yak point cloud data after denoising is roughly configured through a point feature histogram, and the yak point cloud data is finely configured through an iterative closest point algorithm to obtain the overall point cloud data of the yak.

[0008] According to a method for identifying yak individual and body size information provided by the present invention, a characteristic curve of a yak horn is determined according to the curvature change of each yak horn data point in the yak horn point cloud data, including: Obtaining a first normal vector of each yak horn data point in the yak horn point cloud data and a second normal vector of a field data point corresponding to the yak horn data point; Calculate the average value of the normal vector curvature of each yak horn data point and the field data point corresponding to the corresponding yak data point according to the first normal vector of each yak horn data point and the second normal vector of the field data point corresponding to the yak horn data point; The yak horn data points whose normal vector curvature average value exceeds a preset threshold are used as characteristic curve yak horn data points, and the characteristic curve of the yak horn is determined according to each characteristic curve yak horn data point.

[0009] According to a method for identifying individual yaks and body size information provided by the present invention, the age information of the yak to be tested is determined based on the yak horn length information and the overall point cloud data of the yak, including: Determine the height and length information of the yak with hair according to the overall point cloud data of the yak; The yak horn length information of the yak to be tested is determined by a multiple linear regression analysis method based on the height and length information of the yak to be tested with hair, a preset regression coefficient, and the yak horn length information.

[0010] According to a method for identifying yak individuals and body size information provided by the present invention, a method for determining yak hair information corresponding to age information includes: Matching yak hair information corresponding to the age information in a preset database; Wherein, the yak hair information includes at least one of the following: hair thickness information and hair length information.

[0011] According to a method for identifying yak individuals and body size information provided by the present invention, after the step of determining the body size measurement information of the carcass of the yak to be measured according to the yak carcass point cloud data, the method further comprises: Determining standard carcass body size measurement information corresponding to the age information according to the age information of the yak to be tested; The growth assessment information of the yak to be tested is determined based on the comparison between the standard carcass body size measurement information and the carcass body size measurement information of the yak to be tested.

[0012] The present invention also provides a device for identifying yak individuals and body size information, comprising the following modules: A segmentation module is used to segment the overall point cloud data of the yak to be tested by a clustering algorithm to obtain the yak corner point cloud data; A first determination module is used to determine a characteristic curve of the yak horn according to a change in curvature of each yak horn data point in the yak horn point cloud data, so as to determine the yak horn length information and the individual information of the yak to be tested according to the characteristic curve; The second determination module is used to determine the age information of the yak to be tested according to the yak horn length information and the overall point cloud data of the yak, so as to obtain the yak hair information corresponding to the age information; A third determination module is used to determine the yak carcass point cloud data of the yak to be tested according to the yak hair point cloud data corresponding to the yak hair information and the yak overall point cloud data; The identification module is used to determine the carcass size measurement information of the yak to be tested according to the yak carcass point cloud data.

[0013] The device for identifying yak individual and body size information provided by the present invention is also used for: De-noising the initial yak point cloud data corresponding to the color depth map of the yak to be tested to obtain de-noised yak point cloud data; The yak point cloud data after denoising is roughly configured through a point feature histogram, and the yak point cloud data is finely configured through an iterative closest point algorithm to obtain the overall point cloud data of the yak.

[0014] The device for identifying yak individual and body size information provided by the present invention is also used for: Obtaining a first normal vector of each yak horn data point in the yak horn point cloud data and a second normal vector of a field data point corresponding to the yak horn data point; Calculate the average value of the normal vector curvature of each yak horn data point and the field data point corresponding to the corresponding yak data point according to the first normal vector of each yak horn data point and the second normal vector of the field data point corresponding to the yak horn data point; The yak horn data points whose normal vector curvature average value exceeds a preset threshold are used as characteristic curve yak horn data points, and the characteristic curve of the yak horn is determined according to each characteristic curve yak horn data point.

[0015] The device for identifying yak individual and body size information provided by the present invention is also used for: Determine the height and length information of the yak with hair according to the overall point cloud data of the yak; The yak horn length information of the yak to be tested is determined by a multiple linear regression analysis method based on the height and length information of the yak to be tested with hair, a preset regression coefficient, and the yak horn length information.

[0016] The device for identifying yak individual and body size information provided by the present invention is also used for: Matching yak hair information corresponding to the age information in a preset database; Wherein, the yak hair information includes at least one of the following: hair thickness information and hair length information.

[0017] The device for identifying yak individual and body size information provided by the present invention is also used for: Determining standard carcass body size measurement information corresponding to the age information according to the age information of the yak to be tested; The growth assessment information of the yak to be tested is determined based on the comparison between the standard carcass body size measurement information and the carcass body size measurement information of the yak to be tested.

[0018] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, any of the above-mentioned methods for identifying yak individual and body size information is implemented.

[0019] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the method for identifying yak individual and body size information as described in any one of the above is implemented.

[0020] The present invention also provides a computer program product, including a computer program, wherein when the computer program is executed by a processor, the computer program implements any of the above-mentioned methods for identifying yak individual and body size information.

[0021] The method and device for identifying yak individual and body size information provided by the present invention segment the overall point cloud data of the yak to be measured through a clustering algorithm to obtain the yak horn point cloud data, and then effectively determine the yak horn length information that can reflect the age of the yak through the curvature change analysis of each yak horn data point in the yak horn point cloud data, so as to obtain the yak hair information corresponding to the age information, and determine the yak carcass point cloud data of the yak to be measured through the yak hair point cloud data corresponding to the yak hair information and the overall point cloud data of the yak, and remove the interference that the existence of hair may cause to the measurement result, so as to obtain more accurate carcass body size measurement information. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 This is a schematic flow chart of the method for identifying yak individuals and body size information provided by the present invention.

[0024] Figure 2 Schematic diagram of variable geometry provided by the present invention.

[0025] Figure 3 This is a schematic diagram of the structure of the device for identifying yak individual and body size information provided by the present invention.

[0026] Figure 4 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] Figure 1 The flowchart of the method for identifying yak individuals and body size information provided by the present invention is as follows: Figure 1 As shown, including: Step 110, segmenting the whole point cloud data of the yak to be tested by a clustering algorithm to obtain yak corner point cloud data; In the embodiment of the present application, the clustering algorithm may specifically refer to a K-means or spectral clustering algorithm. The point cloud is segmented by the clustering algorithm to obtain yak horn point cloud data.

[0029] K-Means Clustering is an iterative optimization algorithm based on distance metric. It groups data by selecting several centroids so that the sum of the distances from the centroid of each data point in the cluster to which it belongs is minimized.

[0030] Randomly select K initial centroids, or use heuristic methods such as K-Means++ to better initialize the centroids and reduce the impact of randomness on the clustering effect; assign each data point to the cluster with the nearest centroid. This step involves calculating the distance between the data point and the centroid and assigning the data point to the cluster represented by the nearest centroid.

[0031] Recalculate the centroid of each cluster, that is, take the average of all data points in the cluster and update the position of the centroid. Repeat the above steps until the position of the centroid no longer changes or reaches the preset number of iterations, at which point the algorithm converges.

[0032] Based on the clustering results, the point cloud data belonging to the yak horns are identified and extracted. Due to the differences in geometry and structure between yak horns and other body parts, they will be assigned to different clusters to achieve segmentation.

[0033] The quality of clustering results can be evaluated using clustering effectiveness indicators such as the Silhouette Coefficient. The Silhouette Coefficient reflects the intra-cluster compactness and inter-cluster separation of the clustering structure. The k value with the largest average silhouette coefficient is the optimal cluster number, and the yak horn point cloud data is finally obtained.

[0034] Step 120, determining a characteristic curve of the yak horn according to a change in curvature of each yak horn data point in the yak horn point cloud data, and determining the yak horn length information and individual information of the yak to be tested according to the characteristic curve; In the present invention, for each data point in the yak horn point cloud, its local curvature is calculated. The curvature can be determined by the relationship between the normal vector of each point in the point cloud and the normal vector of the neighboring points. The curvature can be calculated using the geometric information in the point cloud, such as the local normal and curvature radius of the point.

[0035] Points with significant changes in curvature are identified as feature points. These feature points may correspond to the edges or contours of the yak horns and are the key to determining the characteristic curve.

[0036] Based on the characteristic points, the characteristic curve of the yak horn is determined. This can be achieved by connecting the points where the curvature changes significantly to form a curve representing the contour of the yak horn, and the length information of the yak horn is determined by calculating the length of the characteristic curve. This can be achieved by calculating the distances between consecutive points on the curve and adding them up.

[0037] Since each yak's horn is unique, in the present invention, the individual identification of yaks can be performed based on the characteristic curve and length information of the yak horn, combined with the data in the yak horn feature database. This step involves a feature matching algorithm, such as a pattern recognition-based method, which compares the newly collected yak horn features with the features in the database to identify the individual information of the yak.

[0038] Step 130, determining the age information of the yak to be tested according to the yak horn length information and the overall point cloud data of the yak, so as to obtain the yak hair information corresponding to the age information; The length of yak horns is directly related to age. As the age increases, the yak horns will gradually grow and form more horn wheels. By measuring the length of yak horns, the age of the yak can be effectively judged.

[0039] Specifically, the multivariate linear regression analysis method can be used to combine the yak horn length information and yak body size data to predict the yak age. The linear regression model is as follows: in, It's age. It is the length information of yak horn. arrive is the regression coefficient, arrive These are the different body size parameters of yaks. It's an error.

[0040] In the present invention, according to the predicted age of the yak, the hair information of the yak corresponding to the age is obtained, and the information may include characteristics such as hair length and density.

[0041] Step 140, determining the yak carcass point cloud data of the yak to be tested according to the yak hair point cloud data corresponding to the yak hair information and the yak overall point cloud data; In the present invention, the yak hair point cloud data is distinguished from the yak carcass point cloud data based on its features, such as length, density, etc. This can be done by feature calculation and analysis of the point cloud data.

[0042] After removing the hair point cloud data from the yak's overall point cloud data, what remains is the yak carcass point cloud data. This step ensures the accuracy and integrity of the carcass point cloud data. Step 150: determining the carcass size measurement information of the yak to be measured according to the yak carcass point cloud data.

[0043] In the present invention, key feature points such as the top, bottom, and sides of the carcass are identified in the point cloud data of the yak carcass, and the distances between the feature points are measured using point cloud data processing software or algorithms. These distances include the length, width, and height of the carcass.

[0044] According to the measured distance, the body size parameters of the carcass are calculated, such as body height, body length, chest circumference, hip circumference, etc. These parameters can be calculated by geometric methods or statistical methods.

[0045] In the present invention, the overall point cloud data of the yak to be tested is segmented by a clustering algorithm to obtain the yak horn point cloud data, and then the yak horn length information that can reflect the age of the yak is effectively determined by analyzing the curvature change of each yak horn data point in the yak horn point cloud data, so that the yak hair information corresponding to the age information can be obtained, and the yak carcass point cloud data of the yak to be tested is determined by the yak hair point cloud data corresponding to the yak hair information and the overall point cloud data of the yak, and the existence of the hair is removed, which may interfere with the measurement result, so as to obtain more accurate carcass body size measurement information.

[0046] Optionally, before the step of segmenting the whole point cloud data of the yak to be tested by a clustering algorithm to obtain the yak corner point cloud data, the method further comprises: De-noising the initial yak point cloud data corresponding to the color depth map of the yak to be tested to obtain de-noised yak point cloud data; The yak point cloud data after denoising is roughly configured through a point feature histogram, and the yak point cloud data is finely configured through an iterative closest point algorithm to obtain the overall point cloud data of the yak.

[0047] In the present invention, firstly, the side view and top view depth images of the yak are collected by using dual RGB-D cameras to obtain the color depth map of the yak to be tested. The initial yak point cloud data of the yak to be tested is obtained through the color depth map. These data contain the three-dimensional geometric information and color information of the yak.

[0048] Perform denoising on the initial yak point cloud data. Remove noise points and outliers in the point cloud, which may be caused by sensor errors, environmental interference, or errors in the data acquisition process.

[0049] The denoised yak point cloud data is coarsely registered using the Point Feature Histogram (PFH) algorithm. PFH is a method for describing the local geometric features of a point cloud, which can capture the neighborhood shape features of each point in the point cloud. The purpose of coarse registration is to determine the approximate relative position and posture between two or more point cloud data sets to provide an initial estimate for fine registration.

[0050] The iterative closest point (ICP) algorithm is used to finely align the yak point cloud data after rough alignment. The ICP algorithm optimizes the alignment between point clouds by iteratively finding corresponding point pairs and minimizing the distance between them. Fine alignment can improve the alignment accuracy of point cloud data and ensure accurate matching between point cloud data sets.

[0051] After rough and fine registration, the overall point cloud data of the yak are obtained. These data accurately reflect the three-dimensional geometric structure of the yak to be tested and provide high-quality input data for subsequent clustering segmentation and feature extraction.

[0052] Optionally, determining a characteristic curve of the yak horn according to a change in curvature of each yak horn data point in the yak horn point cloud data comprises: Obtaining a first normal vector of each yak horn data point in the yak horn point cloud data and a second normal vector of a field data point corresponding to the yak horn data point; Calculate the average value of the normal vector curvature of each yak horn data point and the field data point corresponding to the corresponding yak data point according to the first normal vector of each yak horn data point and the second normal vector of the field data point corresponding to the yak horn data point; The yak horn data points whose normal vector curvature average value exceeds a preset threshold are used as characteristic curve yak horn data points, and the characteristic curve of the yak horn is determined according to each characteristic curve yak horn data point.

[0053] In the solution of the present invention, for each data point in the yak horn point cloud data, its first normal vector is calculated. This is usually done by estimating the local surface around the point and calculating its surface normal. A domain (neighborhood) is determined for each yak horn data point, which is usually a sphere or cube area centered on the point. For each yak horn data point in the domain of the neighborhood data points, their second normal vectors are calculated.

[0054] Using the first normal vector of each yak horn data point and the second normal vector of the neighboring data points, the normal vector curvature of these points is calculated. The curvature can be estimated by measuring the concavity of the local surface.

[0055] For each yak horn data point, the average value of the normal vector curvature between it and the neighboring data points is calculated. This average value can provide a quantitative measure of the local geometric change of the point.

[0056] A preset curvature threshold is determined to identify points with significant curvature changes, which may be characteristic points of yak horns. Yak horn data points whose normal vector curvature average exceeds the preset threshold are identified as characteristic curve yak horn data points. These points represent significant geometric features of yak horns, such as the edges or curved parts of the horns.

[0057] Connect all the identified characteristic curve yak horn data points to form the characteristic curve of yak horn.

[0058] More specifically, for each point p in the point cloud, let the unit normal vector of point p be N, and assume that there are m neighboring points near point p. is the i-th neighbor point of point P, The normal vector is Assume an orthogonal coordinate system is the local coordinate system L of point p, N represents the normal vector of point p. X and Y are orthogonal unit vectors. In L, The coordinates are , for , for . Use an osculating circle through point p to estimate the normal curvature of point p . Figure 2 The variable geometry diagram provided by the present invention is as follows: Figure 2 shown.

[0059] Then p is relative to The normal curvature of is estimated as follows: in, is a vector and The angle between is a vector and The angle between.

[0060] The approximate value of equation (1.1-1) is as follows: (1.1-2) in, , .

[0061] Use Euclidean distance to calculate the length of characteristic curve L. Suppose curve L consists of n points composition, ( , , ), then the arc length L can be approximated as: In the scheme of the present application, characteristic curves representing the geometric features of yak horns can be accurately extracted from yak horn point cloud data, which is crucial for subsequent applications such as yak horn length measurement, morphological analysis, and yak individual identification.

[0062] Optionally, the method for determining the yak hair information corresponding to the age information includes: Matching yak hair information corresponding to the age information in a preset database; Wherein, the yak hair information includes at least one of the following: hair thickness information and hair length information.

[0063] In the present invention, in a preset database, the yak hair information corresponding to the determined yak age information is matched. This database may contain hair feature data of yaks of different ages, including information such as hair thickness and length. By matching the information in the preset database, the hair features of yaks of a specific age can be determined. Optionally, after the step of determining the carcass size measurement information of the yak to be measured according to the yak carcass point cloud data, the method further comprises: Determining standard carcass body size measurement information corresponding to the age information according to the age information of the yak to be tested; The growth assessment information of the yak to be tested is determined based on the comparison between the standard carcass body size measurement information and the carcass body size measurement information of the yak to be tested.

[0064] In the present invention, according to the age information of the yak to be tested, the standard carcass body size measurement information corresponding to the age is matched in a preset database. This database may contain standard body size data of yaks of different age stages, such as body height, body length and chest circumference.

[0065] The carcass body size measurement information of the yak to be tested is compared with the standard body size information in the database, and the growth assessment information of the yak to be tested is determined based on the comparison results. If the body size measurement value of the yak to be tested is close to or better than the standard value, it can be considered that its growth and development is in good condition; if it is lower than the standard value, further nutrition or health management may be required.

[0066] In the present invention, the growth assessment information can be used to guide the feeding and management of yaks, such as adjusting feed ratios, improving feeding environments, etc., to promote the healthy growth of yaks. In an optional embodiment, a camera, scanner or other device is used to collect images or videos of the yak horns to obtain comprehensive horn information. By collecting images from multiple perspectives, the characteristics of the yak horns can be captured more accurately.

[0067] The collected images were preprocessed, including denoising and contrast enhancement, to improve image quality. Subsequently, the yak horns were separated from the background using a segmentation algorithm, laying the foundation for subsequent feature extraction and analysis.

[0068] Extract key features from the segmented yak horn images, such as the length, curvature and texture of the horns. This step can be achieved using techniques such as morphological operations, edge detection and texture analysis.

[0069] A feature database containing known yak horn feature data is established. Then, a feature matching algorithm (e.g., a method based on pattern recognition) is used to compare the newly collected yak horn features with the features in the database to identify the individual information of the yak.

[0070] Based on the characteristic data of yak horns, the length, curvature and other body size information can be calculated. By comparing with the body size data of known individuals, the growth and development of yaks can be evaluated.

[0071] In another optional embodiment, data including body size, body condition index and corresponding hair parameter data of yaks are collected to ensure that the collected data is representative and extensive to cover different breeds, ages and genders.

[0072] The collected data are preprocessed, including data cleaning and outlier processing, to ensure the accuracy and consistency of the data.

[0073] According to actual needs, body size and body condition indicators that are highly correlated with hair parameters are selected as features. Features with high correlation can be determined by methods such as correlation analysis.

[0074] Select an appropriate fitting model according to the problem requirements, such as linear regression, polynomial regression, support vector regression, etc. Use the selected features and corresponding hair parameters as input and output, train the model, and use the training set to fit and optimize the model parameters.

[0075] The test set is used to evaluate and verify the established model. The accuracy and generalization ability of the model are evaluated by calculating the prediction error, root mean square error and other indicators of the model.

[0076] The verified fitting model can be applied to actual data prediction and analysis. By inputting the body size and body condition indicators of yaks, the corresponding hair parameters can be predicted, providing a scientific basis for yak breeding management.

[0077] The following is a description of the device for identifying yak individuals and body size information provided by the present invention. The device for identifying yak individuals and body size information described below and the method for identifying yak individuals and body size information described above can be referred to each other.

[0078] Figure 3 The schematic diagram of the structure of the device for identifying yak individual and body size information provided by the present invention is as follows: Figure 3 As shown, including: The segmentation module 310 is used to segment the yak overall point cloud data of the yak to be tested by a clustering algorithm to obtain yak corner point cloud data; The first determination module 320 is used to determine the characteristic curve of the yak horn according to the curvature change of each yak horn data point in the yak horn point cloud data, so as to determine the yak horn length information and the individual information of the yak to be tested according to the characteristic curve; The second determination module 330 is used to determine the age information of the yak to be tested according to the yak horn length information and the yak overall point cloud data, so as to obtain the yak hair information corresponding to the age information; The third determination module 340 is used to determine the yak carcass point cloud data of the yak to be tested according to the yak hair point cloud data corresponding to the yak hair information and the yak overall point cloud data; The identification module 350 is used to determine the carcass size measurement information of the yak to be tested according to the yak carcass point cloud data.

[0079] The device for identifying yak individual and body size information provided by the present invention is also used for: De-noising the initial yak point cloud data corresponding to the color depth map of the yak to be tested to obtain de-noised yak point cloud data; The yak point cloud data after denoising is roughly configured through a point feature histogram, and the yak point cloud data is finely configured through an iterative closest point algorithm to obtain the overall point cloud data of the yak.

[0080] The device for identifying yak individual and body size information provided by the present invention is also used for: Obtaining a first normal vector of each yak horn data point in the yak horn point cloud data and a second normal vector of a field data point corresponding to the yak horn data point; Calculate the average value of the normal vector curvature of each yak horn data point and the field data point corresponding to the corresponding yak data point according to the first normal vector of each yak horn data point and the second normal vector of the field data point corresponding to the yak horn data point; The yak horn data points whose normal vector curvature average value exceeds a preset threshold are used as characteristic curve yak horn data points, and the characteristic curve of the yak horn is determined according to each characteristic curve yak horn data point.

[0081] The device for identifying yak individual and body size information provided by the present invention is also used for: Determine the height and length information of the yak with hair according to the overall point cloud data of the yak; The yak horn length information of the yak to be tested is determined by a multiple linear regression analysis method based on the height and length information of the yak to be tested with hair, a preset regression coefficient, and the yak horn length information.

[0082] The device for identifying yak individual and body size information provided by the present invention is also used for: Matching yak hair information corresponding to the age information in a preset database; Wherein, the yak hair information includes at least one of the following: hair thickness information and hair length information.

[0083] The device for identifying yak individual and body size information provided by the present invention is also used for: Determining standard carcass body size measurement information corresponding to the age information according to the age information of the yak to be tested; The growth assessment information of the yak to be tested is determined based on the comparison between the standard carcass body size measurement information and the carcass body size measurement information of the yak to be tested.

[0084] In the present invention, the overall point cloud data of the yak to be tested is segmented by a clustering algorithm to obtain the yak horn point cloud data, and then the yak horn length information that can reflect the age of the yak is effectively determined by analyzing the curvature change of each yak horn data point in the yak horn point cloud data, so that the yak hair information corresponding to the age information can be obtained, and the yak carcass point cloud data of the yak to be tested is determined by the yak hair point cloud data corresponding to the yak hair information and the overall point cloud data of the yak, and the existence of the hair is removed, which may interfere with the measurement result, so as to obtain more accurate carcass body size measurement information.

[0085] Figure 4 is a schematic diagram of the structure of the electronic device provided by the present invention, such as Figure 4 As shown, the electronic device may include: a processor 410, a communication interface 420, a memory 430 and a communication bus 440, wherein the processor 410, the communication interface 420 and the memory 430 communicate with each other through the communication bus 440. The processor 410 may call the logic instructions in the memory 430 to execute the method for identifying the individual yak and the body size information, the method comprising: segmenting the yak overall point cloud data of the yak to be tested by a clustering algorithm to obtain the yak corner point cloud data; Determine a characteristic curve of the yak horn according to the curvature change of each yak horn data point in the yak horn point cloud data, and determine the yak horn length information and individual information of the yak to be tested according to the characteristic curve; Determine the age information of the yak to be tested according to the yak horn length information and the overall point cloud data of the yak, so as to obtain the yak hair information corresponding to the age information; Determine the yak carcass point cloud data of the yak to be tested according to the yak hair point cloud data corresponding to the yak hair information and the yak overall point cloud data; The body size measurement information of the yak carcass to be measured is determined according to the yak carcass point cloud data.

[0086] In addition, the logic instructions in the above-mentioned memory 430 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0087] On the other hand, the present invention further provides a computer program product, the computer program product includes a computer program, the computer program can be stored in a non-transitory computer-readable storage medium, when the computer program is executed by a processor, the computer can execute the yak individual and body size information identification method provided by the above methods, the method includes: segmenting the yak overall point cloud data of the yak to be tested by a clustering algorithm to obtain yak corner point cloud data; Determine a characteristic curve of the yak horn according to the curvature change of each yak horn data point in the yak horn point cloud data, and determine the yak horn length information and individual information of the yak to be tested according to the characteristic curve; Determine the age information of the yak to be tested according to the yak horn length information and the overall point cloud data of the yak, so as to obtain the yak hair information corresponding to the age information; Determine the yak carcass point cloud data of the yak to be tested according to the yak hair point cloud data corresponding to the yak hair information and the yak overall point cloud data; The body size measurement information of the yak carcass to be measured is determined according to the yak carcass point cloud data.

[0088] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the computer program is executed by a processor to perform the yak individual and body size information identification method provided by the above methods, the method comprising: segmenting the yak overall point cloud data of the yak to be measured by a clustering algorithm to obtain yak corner point cloud data; Determine a characteristic curve of the yak horn according to the curvature change of each yak horn data point in the yak horn point cloud data, and determine the yak horn length information and individual information of the yak to be tested according to the characteristic curve; Determine the age information of the yak to be tested according to the yak horn length information and the overall point cloud data of the yak, so as to obtain the yak hair information corresponding to the age information; Determine the yak carcass point cloud data of the yak to be tested according to the yak hair point cloud data corresponding to the yak hair information and the yak overall point cloud data; The body size measurement information of the yak carcass to be measured is determined according to the yak carcass point cloud data.

[0089] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0090] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for identifying yak individuals and body size information, characterized in that: include: The overall point cloud data of the yak to be tested is segmented by clustering algorithm to obtain the yak horn point cloud data; Determine a characteristic curve of the yak horn according to the curvature change of each yak horn data point in the yak horn point cloud data, and determine the yak horn length information and individual information of the yak to be tested according to the characteristic curve; Determine the age information of the yak to be tested according to the yak horn length information and the overall point cloud data of the yak, so as to obtain the yak hair information corresponding to the age information; Determine the yak carcass point cloud data of the yak to be tested according to the yak hair point cloud data corresponding to the yak hair information and the yak overall point cloud data; The body size measurement information of the yak carcass to be measured is determined according to the yak carcass point cloud data.

2. The method for identifying yak individuals and body size information according to claim 1, characterized in that: Before the step of segmenting the whole point cloud data of the yak to be tested by a clustering algorithm to obtain the yak corner point cloud data, the method further comprises: De-noising the initial yak point cloud data corresponding to the color depth map of the yak to be tested to obtain de-noised yak point cloud data; The yak point cloud data after denoising is roughly configured through a point feature histogram, and the yak point cloud data is finely configured through an iterative closest point algorithm to obtain the overall point cloud data of the yak.

3. The method for identifying yak individuals and body size information according to claim 1, characterized in that: Determining a characteristic curve of the yak horn according to a curvature change of each yak horn data point in the yak horn point cloud data includes: Obtaining a first normal vector of each yak horn data point in the yak horn point cloud data and a second normal vector of a field data point corresponding to the yak horn data point; Calculate the average value of the normal vector curvature of each yak horn data point and the field data point corresponding to the corresponding yak data point according to the first normal vector of each yak horn data point and the second normal vector of the field data point corresponding to the yak horn data point; The yak horn data points whose normal vector curvature average value exceeds a preset threshold are used as characteristic curve yak horn data points, and the characteristic curve of the yak horn is determined according to each characteristic curve yak horn data point.

4. The method for identifying yak individuals and body size information according to claim 1, characterized in that: The step of determining the age information of the yak to be tested according to the yak horn length information and the overall point cloud data of the yak comprises: Determine the height and length information of the yak with hair according to the overall point cloud data of the yak; The yak horn length information of the yak to be tested is determined by a multiple linear regression analysis method based on the height and length information of the yak to be tested with hair, a preset regression coefficient, and the yak horn length information.

5. The method for identifying yak individuals and body size information according to claim 1, characterized in that: The method for determining the yak hair information corresponding to the age information includes: Matching yak hair information corresponding to the age information in a preset database; Wherein, the yak hair information includes at least one of the following: hair thickness information and hair length information.

6. The method for identifying yak individuals and body size information according to claim 1, characterized in that: After the step of determining the carcass size measurement information of the yak to be tested according to the yak carcass point cloud data, the method further comprises: Determining standard carcass body size measurement information corresponding to the age information according to the age information of the yak to be tested; The growth assessment information of the yak to be tested is determined based on the comparison between the standard carcass body size measurement information and the carcass body size measurement information of the yak to be tested.

7. A device for identifying individual yaks and their body size information, characterized in that: include: A segmentation module is used to segment the overall point cloud data of the yak to be tested by a clustering algorithm to obtain the yak corner point cloud data; A first determination module is used to determine a characteristic curve of the yak horn according to a change in curvature of each yak horn data point in the yak horn point cloud data, so as to determine the yak horn length information and the individual information of the yak to be tested according to the characteristic curve; The second determination module is used to determine the age information of the yak to be tested according to the yak horn length information and the overall point cloud data of the yak, so as to obtain the yak hair information corresponding to the age information; A third determination module is used to determine the yak carcass point cloud data of the yak to be tested according to the yak hair point cloud data corresponding to the yak hair information and the yak overall point cloud data; The identification module is used to determine the carcass size measurement information of the yak to be tested according to the yak carcass point cloud data.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method for identifying yak individual and body size information as described in any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for identifying yak individual and body size information as claimed in any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method for identifying yak individual and body size information as claimed in any one of claims 1 to 6 is implemented.

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