The invention relates to a method for measuring
plant height based on a vehicle-mounted
laser radar, which comprises the following steps:
laser point cloud subscription and coordinate
system correction: the
laser radar directly acquires reflection point information at the top of a
plant canopy in a vertically downward scanning mode; performing
terrain adaptive local area
point cloud enhancement, detecting the local
point cloud density in real time, and adaptively generating new interpolation points, so that the overall distribution of the point cloud is uniform; carrying out multi-plane segmented ground fitting; non-
plant points are automatically identified and removed based on filtering of geometric features; point cloud clustering and plant height extraction are carried out, the highest point position of each plant is determined, and the plant height of each
crop is accurately calculated; and
time sequence Kalman filtering smooth tracking is carried out, and a stable smooth plant height value is estimated and output in real time. According to the method,
point density self-adaptive enhancement is carried out on the sparse point cloud area of the plants in the landforms such as slopes and hills, the precision of the plant height calculation
reference plane and the subsequent clustering precision are improved, the instantaneous measurement error caused by wind-blown
crop shaking and platform movement is effectively reduced, and the measurement stability is greatly improved.