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基于計(jì)算機(jī)視覺(jué)的玉米果穗三維重建方法
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“十二五”國(guó)家科技支撐計(jì)劃資助項(xiàng)目(2012BAD35B01)、農(nóng)業(yè)部行業(yè)科技計(jì)劃資助項(xiàng)目(201203026)和北京市農(nóng)林科學(xué)院自主創(chuàng)新專項(xiàng)資助項(xiàng)目(KJCX201104011)


Three Dimensional Reconstruction of Maize Ear Based on Computer Vision
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    摘要:

    提出了一種快速,、準(zhǔn)確,、自動(dòng)化的基于計(jì)算機(jī)視覺(jué)的玉米果穗三維重建方法,。以一定角度間隔旋轉(zhuǎn)果穗獲取各視角下的圖像,,通過(guò)雙目立體視覺(jué)技術(shù)重建各視角下的玉米果穗表面點(diǎn)云,,計(jì)算重投影誤差去除點(diǎn)云中的外點(diǎn),,尋找兩相鄰圖像的對(duì)應(yīng)匹配點(diǎn),,并由匹配點(diǎn)確定果穗表面點(diǎn)云中三維配準(zhǔn)點(diǎn)的集合,計(jì)算兩相鄰視角下配準(zhǔn)點(diǎn)的旋轉(zhuǎn)矩陣與平移向量,,采用RANSAC方法檢驗(yàn)配準(zhǔn)模型的一致性,。依次對(duì)各視角下的點(diǎn)云配準(zhǔn)拼接獲得整個(gè)果穗表面點(diǎn)云,進(jìn)行冗余點(diǎn)去除,、網(wǎng)格簡(jiǎn)化,、紋理貼圖等后處理,獲得最終果穗三維造型,。實(shí)驗(yàn)結(jié)果表明:重建模型的體積與實(shí)測(cè)值不存在顯著性差異,,所述方法能夠滿足玉米果穗三維重建的需求。

    Abstract:

    An approach for rapid, accurate and automatic 3D reconstruction of maize ear based on computer vision was presented. Firstly, we rotate the maize ear in a proper angle interval to acquire images in different views, and then calculate out points cloud of maize ear surface with binocular stereovision. Secondly, we eliminate outliers according to the threshold of reprojection error, find out 2D matching points in two neighboring images, determine the 3D matching points set of points clouds of maize ear surfaces by the 2D matching points, calculate the rotation matrix and translation vector of the matching points between two neighboring views, and test the consistency of the 3D registration model by RANSAC method. Finally, by rotating and translating each point cloud of different views to stitch the whole maize ear surface, eliminating the redundant points, simplifying the mesh, and mapping the texture, we get the final 3D shape of maize ear. The experiment results show that the volume of the 3D reconstruction maize ear has no significant difference from the measurement value, and the method proposed can meet the need of 3D reconstruction of maize ear.

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王傳宇,郭新宇,吳 升,肖伯祥,杜建軍.基于計(jì)算機(jī)視覺(jué)的玉米果穗三維重建方法[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2014,45(9):274-279. Wang Chuanyu, Guo Xinyu, Wu Sheng, Xiao Boxiang, Du Jianjun. Three Dimensional Reconstruction of Maize Ear Based on Computer Vision[J]. Transactions of the Chinese Society for Agricultural Machinery,2014,45(9):274-279.

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  • 收稿日期:2013-08-02
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  • 在線發(fā)布日期: 2014-09-10
  • 出版日期: 2014-09-10
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