基于RGB-D双目视觉的苗期玉米三维模型重构方法研究  

Research on the reconstruction method of maize three⁃dimensional model in seedling stage based on RGB-D binocular vision

作　　者：马志艳[1,2] 万海迪 陈学海 申阳[1,2] 周明刚 Ma Zhiyan;Wan Haidi;Chen Xuehai;Shen Yang;Zhou Minggang(Hubei University of Technology,Wuhan,430068,China;Hubei Province Agricultural Machinery Equipment Intelligent Engineering Technology Research Center,Wuhan,430068,China)

机构地区：[1]湖北工业大学,武汉市430068 [2]湖北省农机装备智能化工程技术研究中心,武汉市430068

出　　处：《中国农机化学报》2024年第8期148-153,共6页Journal of Chinese Agricultural Mechanization

基　　金：国家重点研发计划子课题(2018YFD0701002—03)。

摘　　要：以玉米幼苗为对象,研究基于RGB-D双目视觉的苗期玉米三维模型重构方法,实现了部分重构参数的优化。首先,针对目标进行固定步距角环绕图像采集,依据RGB图像中目标区域分割结果,对深度图像进行目标区域深度数据分割,并采用改进后的均值滤波对苗期玉米区域内深度数据孔洞进行自适应填充;其次,针对苗期玉米各角度的深度点云数据,采用先粗后精完成多角度点云配准与融合;最后,对比两种体素精简方法对点云的精简平滑效果,实现苗期玉米三维模型的重构。通过试验对比步距角对苗期玉米模型的重构效率与精度,结果表明:采用八叉树滤波精简效果较好,60°步距角建模误差最小,重构的模型与苗期玉米株高精度误差为4.4 mm,茎粗平均精度误差为0.62 mm,能满足苗期玉米的三维重构形态测量需求。This study focuses on the three⁃dimensional reconstruction method of maize seedlings based on RGB-D binocular vision,and optimizes some of the reconstruction parameters.Firstly,a fixed step angle surround image acquisition is performed on the target maize seedlings.According to the segmentation result of the target area in the RGB image,the depth data of the target area in the depth image is segmented.An improved mean filtering method is used to adaptively fill the depth data holes in the maize seedling area.Secondly,multi⁃angle point cloud registration and fusion are completed by first roughly and then finely processing the depth point cloud data of the maize seedlings at various angles.Finally,two voxel simplification methods are compared for their effectiveness in reducing and smoothing point clouds,achieving the reconstruction of the three⁃dimensional model of the maize seedlings.The efficiency and accuracy of maize seedlings modeling with different step angles are experimentally compared.The results show that using an octree filter achieves better simplification effects and the modeling error is minimized at a 60°step angle.The reconstructed model has a precision error of 4.4 mm for the plant height and an average precision error of 0.62 mm for the stem diameter,which meets the requirement for the three⁃dimensional reconstruction morphological measurement of maize seedlings.

关 键 词：玉米 双目视觉 苗期玉米模型 三维重构 孔洞填充 点云配准 

分 类 号：S513[农业科学—作物学] TP391.41[自动化与计算机技术—计算机应用技术]