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遮擋條件下多視角甜椒果實點云三維重構(gòu)方法
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國家自然科學(xué)基金面上項目(32372002)、廣東省農(nóng)業(yè)科學(xué)院協(xié)同創(chuàng)新中心項目(XT202201)、廣東省重點領(lǐng)域研發(fā)計劃項目(2023B0202090001)、廣東省農(nóng)業(yè)科學(xué)院學(xué)科團隊建設(shè)項目(202130TID)和廣東省農(nóng)業(yè)科學(xué)院科技人才引進專項資金項目(R2019YJ-YB3003)


Multi Perspective Point Cloud Reconstruction Method for Sweet Pepper Fruit under Occlusion Conditions
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    摘要:

    為進行表型原位自動化測量,實現(xiàn)甜椒數(shù)字化育種和管理,針對原位果實表型測量中的目標(biāo)遮擋問題,提出一種多視角甜椒果實點云的三維重構(gòu)方法。通過虛擬葉片的方法,創(chuàng)建增強數(shù)據(jù)集,建立基于YOLO v5算法的甜椒果實識別模型,實現(xiàn)對不同遮擋程度果實的識別,同時,構(gòu)建考慮果實位置與遮擋程度的果實表型采集算法,實現(xiàn)多視角的果實三維數(shù)據(jù)采集。最后,配準(zhǔn)甜椒果實三維點云,提取甜椒表型參數(shù),并通過溫室甜椒果實表型,對點云重構(gòu)方法的有效性進行驗證。相較手動測量數(shù)據(jù),果實果寬平均相對誤差為1.72%,果高平均相對誤差為1.60%。試驗結(jié)果表明,本文所提出的甜椒原位表型點云重構(gòu)方法,可為遮擋條件下作物表型提供有效的解決思路和可行方法。

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    The in-situ phenotype of sweet pepper is an important reference indicator for fruit breeding and management. Automated measurement of phenotype in-situ through phenotype collection robots is one of the effective ways for digital breeding and management of sweet pepper. However, fruit occlusion during the measurement process seriously affects the success rate of detection. Therefore, a three-dimensional reconstruction method for multi view sweet pepper fruit point cloud was proposed to address the problem of target occlusion in in-situ fruit phenotype measurement. By using the method of virtual leaves, an enhanced dataset was created, and a sweet pepper fruit recognition model based on YOLO v5 algorithm was established to recognize fruits with different degrees of occlusion. At the same time, a fruit phenotype collection algorithm considering fruit position and occlusion degree was constructed to achieve multi view threedimensional data collection of fruits. Finally, the three-dimensional point cloud of sweet pepper fruit was registered, the phenotype parameters of sweet pepper was extracted, and the effectiveness of the point cloud reconstruction method was validated through the greenhouse sweet pepper fruit phenotype. Compared with manual measurement data, the average relative error of fruit width was 1.72%, and the average relative error of fruit height was 1.60%. The experimental results indicated that the in-situ phenotype point cloud reconstruction method proposed for sweet pepper can provide effective solutions and feasible methods for crop phenotypes under occlusion conditions.

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王昱,易振峰,譚文超,郭金菊,周星星,趙俊宏.遮擋條件下多視角甜椒果實點云三維重構(gòu)方法[J].農(nóng)業(yè)機械學(xué)報,2024,55(5):218-225. WANG Yu, YI Zhenfeng, TAN Wenchao, GUO Jinju, ZHOU Xingxing, ZHAO Junhong. Multi Perspective Point Cloud Reconstruction Method for Sweet Pepper Fruit under Occlusion Conditions[J]. Transactions of the Chinese Society for Agricultural Machinery,2024,55(5):218-225.

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  • 收稿日期:2023-10-07
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  • 在線發(fā)布日期: 2023-12-10
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