ass日本风韵熟妇pics男人扒开女人屁屁桶到爽|扒开胸露出奶头亲吻视频|邻居少妇的诱惑|人人妻在线播放|日日摸夜夜摸狠狠摸婷婷|制服 丝袜 人妻|激情熟妇中文字幕|看黄色欧美特一级|日本av人妻系列|高潮对白av,丰满岳妇乱熟妇之荡,日本丰满熟妇乱又伦,日韩欧美一区二区三区在线

In order to construct colorful 3-D spatial structure of canopy accurately, apple tree canopies of maturation period were set for research object, and a PMD camera and a color camera were used to acquire multi-source organ images of apple tree canopies, which aimed at studying registration of multi-source images. SIFT algorithm was used to extract characteristic points from multi-source images and RANSAC algorithm optimized by objective function was adopted to purify feature vectors, which overcame scale change and effect of light. Bilinear mapping algorithm was employed as spatial mapping between multi-source images to avoide inaccuracy of using affine transformation to solve space mapping. The registration test in orchards with different natural environment showed that the method proposed was suitable for registration of multi source images of apple tree canopies, and the registration accuracy could be 88.2% in sunny day of light environment, 84.2% in sunny day of backlight environment, 72.7% in cloudy day. The research finding could provide maintenance assurance for picking and yielding links of apple orchard after 3-D reconstruction of canopies.