摘要
奶牛三维点云包含的尺寸和体型等信息对奶牛体型评价、尺寸测量和健康评定等具有重要意义。在奶牛活动场和挤奶间栏杆通道获取奶牛点云时,由于栏杆遮挡导致获取的点云缺失区域较大,严重影响奶牛三维建模精度。为了修复缺失的大区域点云,提出一种基于三次B样条曲线的奶牛点云缺失区域修复方法。该方法先对Kinect v2传感器获取的奶牛点云进行预处理,去除周围环境背景,然后沿点云坐标系x轴方向对提取的奶牛点云进行切片投影处理,对每个切片点列中间距较大的相邻点进行补点,再用三次B样条曲线进行拟合。在试验分析补点操作中参数h和L较优取值的基础上,对45头荷斯坦奶牛共225帧点云进行修复试验。结果表明,所提方法比三次B样条方法修复得到的点云均匀性和逼近性能更好,平均帧逼近误差降低了26.7%,为大面积点云缺失修复提供了有效方法。
The dimensional and size information contained in the 3D point cloud of dairy cows are of great importance to the body evaluation, size measurement and health assessment. While capturing the point cloud of dairy cows from the aisle between the dairy farm and the milking parlor, the missing area on the point cloud happens frequently, which greatly affects the accuracy of the three-dimensional modeling of the dairy cows and the extraction of body size parameters. In order to fix the large missing area on the point cloud, a cubic B-spline curve based method was proposed to repair it. Firstly, the surrounding background was removed from the dairy cow＇ s point cloud acquired by Kinect v2. Then, the extracted dairy cow＇ s point clouds were sliced and projected along the x-axis direction of the point cloud coordinate system. In each slice points, some points were filled in the adjacent points with larger spacing. Finally, cubic B-spline curves were used for fitting the filled slice points. The optimal values of parameters h and L were analyzed in the experiment, and a total of 225 frames of 45 Holstein dairy cows＇ point clouds were repaired by using the optimal values of parameters h and L. The results showed that the average frame approximation error was reduced by 26.7% , and the large missing area on the point clouds was repaired and the sparseness of point clouds was also improved. The proposed algorithm had better uniformity and approximation performance than the cubic B-spline method, which provided an effective method for repairing large missing point cloud area.
作者
何东健
牛金玉
张子儒
郭阳阳
谭益
HE Dongjian;NIU Jinyu;ZHANG Ziru;GUO Yangyang;TAN Yi(College of Mechanical and Electronic Engineering, Northwest A＆F University, Yangling , Shaanxi 712100, China;Key Laboratory of Agricultural Internet of Things, Ministry of Agriculture, Yangling, Shaanxi 712100, China;Shaanxi Key Laboratory of Agricultural Information Perception and Intelligent Service, Yangling, Shaanxi 712100, China)
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2018年第6期225-231,共7页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家自然科学基金项目(61473235)
关键词
奶牛
三维点云
孔洞修复
三次B样条曲线
拟合
dairy cow
3D point cloud
hole repairing
cubic B-spline curve
fitting
