基于视觉里程计的森林样地调查系统研究  

Research on Forest Plot Survey System Based on Visual Odometer

作　　者：陈盼盼 冯仲科[1] 范永祥[1] 高祥 申朝永 CHEN Panpan;FENG Zhongke;FAN Yongxiang;GAO Xiang;SHEN Chaoyong(Precision Forestry Key Laboratory of Beijing, Beijing Forestry University, Beijing 100083, China;College of Science, Anhui Agricultural University, Hefei 230036, China)

机构地区：[1]北京林业大学精准林业北京市重点实验室,北京100083 [2]安徽农业大学理学院,合肥230036

出　　处：《农业机械学报》2019年第10期167-174,共8页Transactions of the Chinese Society for Agricultural Machinery

基　　金：中央高校基本科研业务费专项资金项目(2015ZCQ-LX-01);国家自然科学基金项目(U1710123);安徽农业大学青年基金重点项目(2015ZD06)

摘　　要：以视觉里程计技术恢复连续摄影序列图像位姿,并以恢复位姿的图像为基础构建样地调查系统。该系统通过对图像位姿尺度恢复、定义样地坐标系、标记立木等过程估计样地中立木位置及胸径。用相机对12块半径为7.5 m的圆形样地进行连续摄影,获取有序图像序列,并使用构建的样地调查系统对图像序列进行处理,以获取样地中立木位置及胸径。实验结果表明,所有样地立木位置估计值x轴与y轴方向的偏差(BIAS)分别为0.04、-0.03 m,均方根误差(RMSE)分别为0.21、0.17 m;样地中立木胸径估计值的BIAS及RMSE分别为0.09 cm(0.51%)和0.88 cm(5.03%)。The visual odometer technology was used to restore the posture of the continuous photographic sequences. The sample-plot survey system was constructed based on the images of the restored posture. The system can estimate the position and DBH of the sample trees in the sample-plot by recovering the image posture scale, defining the plot coordinate system, and sample tree marking. Totally 12 circular sample plots with radius of 7.5 m were continuously photographed to obtain the image sequence. And then the obtained image sequence was processed with the constructed sample plot survey system to measure the position and DBH of the sample trees. The results showed that the deviations of estimated values of sample tree position of the plots in the x -axis and y -axis directions were 0.04 m and -0.03 m, respectively, and the root mean square error (RMSE) was 0.21 m and 0.17 m, respectively. The BIAS and RMSE of the estimated DBH were 0.09 cm (0.51%) and 0.88 cm (5.03%), respectively. The results showed that the visual odometer technology had a great potential to restore the image posture and to use the non-point cloud method to estimate the tree position and the breast diameter from the picture by plot survey method.

关 键 词：森林样地 视觉里程计 调查系统 立木位置 胸径 

分 类 号：S758.7[农业科学—森林经理学]