基于三维点云数据的苹果树冠层几何参数获取
针对果园环境下苹果树冠层参数获取精度较低的问题,提出了基于地面三维激光扫描仪高精度获取苹果树冠层参数的方法。选用Trimble TX8地面三维激光扫描仪作为苹果树冠层三维点云数据采集设备,提出了基于标靶球的KD-trees-ICP算法,用于高精度配准苹果树冠层三维点云数据。研究了平均风速小于4.5 m/s时,距离地面三维激光扫描仪不同远近条件下的标靶球配准残差和拟合误差的变化规律,分析结果表明,标靶球平均配准残差为1.3 mm,平均拟合误差为0.95 mm,低于大场景测量配准误差要求（5 mm）。为了提高有风环境下提取苹果树冠层参数的精度,研究了0.9-4.5 m/s区间平均风速影响下的苹果树...
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| Published in | 农业工程学报 Vol. 33; no. 3; pp. 175 - 181 |
|---|---|
| Main Author | |
| Format | Journal Article |
| Language | Chinese |
| Published |
现代精细农业系统集成研究教育部重点实验室,农业部农业信息获取技术重点实验室,中国农业大学,北京100083
2017
唐山学院机电工程系,唐山063000%现代精细农业系统集成研究教育部重点实验室,农业部农业信息获取技术重点实验室,中国农业大学,北京100083 |
| Subjects | |
| Online Access | Get full text |
| ISSN | 1002-6819 |
| DOI | 10.11975/j.issn.1002-6819.2017.03.024 |
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| Abstract | 针对果园环境下苹果树冠层参数获取精度较低的问题,提出了基于地面三维激光扫描仪高精度获取苹果树冠层参数的方法。选用Trimble TX8地面三维激光扫描仪作为苹果树冠层三维点云数据采集设备,提出了基于标靶球的KD-trees-ICP算法,用于高精度配准苹果树冠层三维点云数据。研究了平均风速小于4.5 m/s时,距离地面三维激光扫描仪不同远近条件下的标靶球配准残差和拟合误差的变化规律,分析结果表明,标靶球平均配准残差为1.3 mm,平均拟合误差为0.95 mm,低于大场景测量配准误差要求（5 mm）。为了提高有风环境下提取苹果树冠层参数的精度,研究了0.9-4.5 m/s区间平均风速影响下的苹果树冠层枝干、果实、叶片的三维点云质量,建立了风速与叶片侧面厚度的曲线拟合模型,分析结果表明,在果园平均风速小于1.6 m/s时可以从苹果树冠层三维点云数据中提取高精度冠层参数。利用地面激光三维扫描仪获取距离苹果树12 000 mm以内冠层参数,测量精度高于人工测量,相对误差小于4%,为果树高通量信息获取提供了技术支持。 |
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| AbstractList | F762.5%P225; 针对果园环境下苹果树冠层参数获取精度较低的问题,提出了基于地面三维激光扫描仪高精度获取苹果树冠层参数的方法.选用Trimble TX8地面三维激光扫描仪作为苹果树冠层三维点云数据采集设备,提出了基于标靶球的KD-trees-ICP算法,用于高精度配准苹果树冠层三维点云数据.研究了平均风速小于4.5 m/s时,距离地面三维激光扫描仪不同远近条件下的标靶球配准残差和拟合误差的变化规律,分析结果表明,标靶球平均配准残差为1.3mm,平均拟合误差为0.95 mm,低于大场景测量配准误差要求(5mm).为了提高有风环境下提取苹果树冠层参数的精度,研究了0.9～4.5 m/s区间平均风速影响下的苹果树冠层枝干、果实、叶片的三维点云质量,建立了风速与叶片侧面厚度的曲线拟合模型,分析结果表明,在果园平均风速小于1.6 m/s时可以从苹果树冠层三维点云数据中提取高精度冠层参数.利用地面激光三维扫描仪获取距离苹果树12 000 mm以内冠层参数,测量精度高于人工测量,相对误差小于4％,为果树高通量信息获取提供了技术支持. 针对果园环境下苹果树冠层参数获取精度较低的问题,提出了基于地面三维激光扫描仪高精度获取苹果树冠层参数的方法。选用Trimble TX8地面三维激光扫描仪作为苹果树冠层三维点云数据采集设备,提出了基于标靶球的KD-trees-ICP算法,用于高精度配准苹果树冠层三维点云数据。研究了平均风速小于4.5 m/s时,距离地面三维激光扫描仪不同远近条件下的标靶球配准残差和拟合误差的变化规律,分析结果表明,标靶球平均配准残差为1.3 mm,平均拟合误差为0.95 mm,低于大场景测量配准误差要求（5 mm）。为了提高有风环境下提取苹果树冠层参数的精度,研究了0.9-4.5 m/s区间平均风速影响下的苹果树冠层枝干、果实、叶片的三维点云质量,建立了风速与叶片侧面厚度的曲线拟合模型,分析结果表明,在果园平均风速小于1.6 m/s时可以从苹果树冠层三维点云数据中提取高精度冠层参数。利用地面激光三维扫描仪获取距离苹果树12 000 mm以内冠层参数,测量精度高于人工测量,相对误差小于4%,为果树高通量信息获取提供了技术支持。 |
| Abstract_FL | Accurate structural parameters and crown characterization of large isolated apple trees were vital for adjusting spray doses,trimming,autonomous harvesting.According to previous research,canopy measurement methods to characteristic the whole tree structure could be classified in two groups:Manual measurements and electronic procedures to estimate tree dimensions.These methods were time consuming and required specialist knowledge,so a simpler crown characterization measurement method was required.Terrestrial laser scanning (TLS) could provide accurate canopy information through non-destructive methods,which filled the gap between tree scale manual measurements and large scale LiDAR measurements.Laser scanning delivers a dense cloud of points,and this raw point data were filtered for deriving a digital terrain model and subsequent fitting of a parametric stem model.In this study,Trimble TX8 had been used to getting point clouds of the apple tree canopy with trees height 3.2-5.1 m and 7 years old,in the orchard environment.A method and registration algorithm for reconstructing the three-dimensional (3D) apple tree canopy based on terrestrial laser scanner point cloud data from apple trees was presented.After an initial alignment had been obtained from this last set of correspondences,the object ball point clouds were extracted,and the noise was deleted by hands.In order to improve convergence speed,KD-tree improved ICP(iterated closest points),and combined with object ball,to estimate the optimal transform.The object residual errors and fitting errors at different distances between object and scanner were analyzed.Results showed that,the average residual errors was 1.3 mm,and the average fitting errors was 0.95 mm at the distance from 1 000 to 13 000 mm.All the errors were less than the traditional registration accuracy 5 rmm.In addition,wind as an importance factor always influenced point clouds quality.In order to find the influence between them,several pieces of branches,apples and 80 pieces of leaves had been extracted in the wind speed from 0.9 to 4.5 m/s.And the branches and apple structures,the leaf characteristics were studied under different wind speed.Results showed that,the branches and apple outline clearly,both the single tree and group trees,the geometric parameters,such as apple diameter,stem diameter,trunk detection,canopy height,canopy diameter,planting distance,line spacing,could been extracted easily even if the average wind speed was 4.5m/s in the scanning instant.Great changes had taken place in the leaves edge and thickness,when the wind speed changed from 0.9 to 2.4 m/s.The thickness of the leaf profile had changed from 2.2 to about 35.8 mm,and the original point clouds Delatmay triangular mesh also became irregular.And long and narrow triangle appeared at the moment of the average wind speed 1.9 m/s.The three leaf thickness fitting curves,as quadratic curve,cubic curve and exponential curve,were in good agreements for the whole range of studied volumes (R2 =0.976,R2 =0.986 and R2 =0.983,P ＜ 0.001).The fitting curve showed that,apple canopy 3D point cloud data could be obtained with good quality in orchard environment.Comparing with the traditional manual measurement,the relative errors of the canopy parameter measurement values obtained from 3D point clouds data were less than 4％. |
| Author | 郭彩玲 宗泽 张雪 刘刚 |
| AuthorAffiliation | 现代精细农业系统集成研究教育部重点实验室、农业部农业信息获取技术重点实验室,中国农业大学,北京100083 唐山学院机电工程系,唐山063000 |
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| Keywords | 测量误差 lasers measurement errors 精度 apple canopy accuracy point cloud 三维点云数据 激光扫描仪 苹果树冠层 |
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| Notes | 11-2047/S Guo Calling, Zong Ze, Zhang Xue, Liu Gang （1. Key Lab of Modern Precision Agriculture System Integration Research, Ministry of Education of China, Key Lab of Agricultural Information Acquisition Technology, Ministry of Agricultural of China, China Agricultural University, Beijing 100083, China; 2. Department of Electromechanical Engineering, Tangshan University, Tangshan 063000, China） Accurate structural parameters and crown characterization of large isolated apple trees were vital for adjusting spraydoses, trimming, autonomous harvesting. According to previous research, canopy measurement methods to characteristic thewhole tree structure could be classified in two groups： Manual measurements and electronic procedures to estimate treedimensions. These methods were time consuming and required specialist knowledge, so a simpler crown characterizationmeasurement method was required. Terrestrial laser scanning （TLS） could provide accurate canopy information throughnon-destructive methods, which filled th |
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| Publisher | 现代精细农业系统集成研究教育部重点实验室,农业部农业信息获取技术重点实验室,中国农业大学,北京100083 唐山学院机电工程系,唐山063000%现代精细农业系统集成研究教育部重点实验室,农业部农业信息获取技术重点实验室,中国农业大学,北京100083 |
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| Snippet | 针对果园环境下苹果树冠层参数获取精度较低的问题,提出了基于地面三维激光扫描仪高精度获取苹果树冠层参数的方法。选用Trimble TX8地面三维激光扫描仪作为苹果树冠层三维点... F762.5%P225; 针对果园环境下苹果树冠层参数获取精度较低的问题,提出了基于地面三维激光扫描仪高精度获取苹果树冠层参数的方法.选用Trimble TX8地面三维激光扫描仪作为苹... |
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| SubjectTerms | 三维点云数据 测量误差 激光扫描仪 精度 苹果树冠层 |
| Title | 基于三维点云数据的苹果树冠层几何参数获取 |
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