The invention discloses an apple anthracnose leaf
blight recognition five-dimensional data fusion method based on a patrol
robot, relates to the technical field of anthracnose leaf
blight recognition, and solves the problems of limited sensing dimension, large illumination interference and inaccurate
spatial positioning in the prior art. Comprising the following steps: S1, acquiring surface curvature characteristics of apple leaves, collecting RGB-D images of the leaves, constructing a three-dimensional topological structure of the leaves, and positioning scab space distribution; s2, acquiring spectral reflection information of apple leaves, quantifying biochemical components of
chlorophyll a and
carotenoid, and constructing a
vegetation index
feature set sensitive to diseases; s3,
apple tree canopy temperature information is collected, a
transpiration anomaly detection model is constructed, and multi-
modal fusion of
thermal infrared and
point cloud data is realized; and S4, integrating
spatial distribution, spectral reflection and
thermal radiation information, constructing a five-dimensional phenotypic
characteristic matrix model, and comprehensively analyzing apple phenotypic characteristics. According to the method, the recognition accuracy under the conditions of blade shielding, uneven illumination, blade posture change and environment interference can be remarkably improved.