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Depth Ranging Performance Evaluation and Improvement for RGB-D Cameras on Field-Based High-Throughput Phenotyping Robots

文献类型： 外文期刊

作者： Fan, Zhengqiang 1 ; Sun, Na 1 ; Qiu, Quan 1 ; Li, Tao 1 ; Zhao, Chunjiang 2 ;

作者机构： 1.Beijing Acad Agr & Forestry Sci, Beijing Res Ctr Intelligent Equipment Agr, Beijing 100097, Peoples R China

2.Beijing Acad Agr & Forestry Sci, Beijing Res Ctr Informat Technol Agr, Beijing 100097, Peoples R China

期刊名称：2021 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)

ISSN： 2153-0858

年卷期： 2021 年

页码：

收录情况： SCI

摘要： RGB-D cameras have been successfully used for indoor High-ThroughPut Phenotyping (HTPP). However, their capability and feasibility for in-field HTPP applications still need to be evaluated. To solve the problem, we evaluate the depth-ranging performances of a consumer-level RGB-D camera (RealSense D435i) under in-field scenarios. First, we focus on determining their optimal ranging areas for different crop organs. Second, based on the evaluation results, we analyze the influences of light intensity on depth measurements and propose a brightness-and-distance based Support Vector Regression Strategy, to compensate the ranging error. Finally, we give an intuitive accuracy ranking diagram for RealSense D435i under natural lighting intensities. Experimental results show that: 1) RealSense D435i has good ranging performances on in-field HTPP. 2) Our error compensation model can effectively reduce the influences of lighting intensity and target distance.

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