Efficient three-dimensional reconstruction and skeleton extraction for intelligent pruning of fruit trees
文献类型： 外文期刊
作者： Li, Xiaojuan 1 ; Liu, Bo 1 ; Shi, Yinggang 2 ; Xiong, Mingming 1 ; Ren, Dongyu 3 ; Wu, Letian 4 ; Zou, Xiangjun 1 ;
作者机构： 1.Xinjiang Univ, Sch Intelligent Mfg & Modern Ind, Sch Mech Engn, Urumqi 830000, Peoples R China
2.Northwest A&F Univ, Coll Mech & Elect Engn, Yangling 712100, Peoples R China
3.Xiangyang Fodi Battery Co Ltd, Xiangyang 441000, Peoples R China
4.Xinjiang Acad Agr Sci, Inst Agr Mechanizat, Urumqi 830091, Peoples R China
关键词： Fruit trees; Computer vision; 3D reconstruction; Skeleton extraction
期刊名称：COMPUTERS AND ELECTRONICS IN AGRICULTURE （ 影响因子：8.9； 五年影响因子：9.3 ）
ISSN： 0168-1699
年卷期： 2024 年 227 卷
页码：
收录情况： SCI
摘要： The three-dimensional reconstruction of fruit trees plays a crucial role in assessing their growth status, analyzing agronomic traits, and categorizing their organs. This is vital for implementing intelligent orchard management. This study aims to develop a cost-effective and efficient method for the three-dimensional reconstruction and skeleton extraction of fruit trees. The proposed method leverages the 3D geometric structure captured by Timeof-Flight (TOF) sensors and addresses common issues such as occlusion and perspective ambiguity. Firstly, the TOF sensor and its supporting components are used to build an acquisition platform to collect the full range point cloud of fruit trees in the key growth period. The noise information is filtered through the point cloud preprocessing operation to obtain the complete target point cloud and extract its structural invariant features. The IWOA-RANSAC-NDT algorithm is introduced for 3D model registration. Secondly, the Delaunay triangulation algorithm and Dijkstra shortest path algorithm are used to calculate the Minimum Spanning Tree. Branch segmentation is expedited using the Kd-tree data structure. The Levenberg Marquardt algorithm and the cylindrical fitting method are used to obtain the full fruit tree skeleton model. Finally, taking walnut tree as the experimental object, a high-precision fruit tree point cloud model is constructed, and the actual verification is carried out based on the measured data. Findings indicate that the proposed methodology can accurately construct both 3D point cloud and skeleton models of fruit trees with accuracy deviations from the measured data remaining within 7 %. The proposed method offers valuable data and technical support for the future development of highly autonomous, practical, and user-oriented fruit tree pruning systems.
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