农业机械学报2018，Vol.49Issue(3)：187-195,9.DOI:10.6041/j.issn.1000-1298.2018.03.023
基于单视角点云镜像的猪只体尺测量方法
Pig Body Size Measurement Method Based on Mirror Reflection of Single Angle Point Cloud
摘要
Abstract
In order to overcome the problems of manual livestock body size measurement which is labor intensive,time consuming and stressful to the animals,a livestock body size measurement method based on the mirror reflection of single angle point cloud was proposed.A single depth camera Xtion was utilized to capture the sequences of point clouds of the scene,including pig and point clouds were stored in the computer,and then the scene point cloud,including the pig that bending degree of its back was not large was selected manually.Subsequently,the ground of the scene was deleted by using random sample consensus,the remaining scene point cloud was segmented based on Euclidean clustering,and then all the clusters were sorted according to the distance from the center of cluster to the coordinate origin,and the smallest one was extracted as the target pig.Pose normalization of the extracted pig was obtained by using a PCA based approach.Then,the pig symmetry plane was detected from the single angle point cloud by using the prior information of pig after pose normalization.Using the symmetry plane,the point clouds data of whole body surface of pig was obtained.Finally,by using the software developed by the institution of the authors,body size measurement was performed manually.The results showed that the average relative errors were 5.00％ for body length measurement,7.40％ for hip width measurement and 5.74％ for hip height measurement.This method offered a new way to measure the livestock body size.关键词
猪只/体尺测量/Xtion深度相机/点云/镜像Key words
pig/body size measurement/Xtion depth camera/point cloud/mirror reflection分类
信息技术与安全科学引用本文复制引用
王可,郭浩,马钦,苏伟,华明睿,朱德海..基于单视角点云镜像的猪只体尺测量方法[J].农业机械学报,2018,49(3):187-195,9.基金项目
国家自然科学基金项目(41601491)、国家科技重大专项(2014ZX0801203B)、中央高校基本科研业务费专项资金项目(2016QC016)和北京航空航天大学虚拟现实技术与系统国家重点实验室开放课题项目(BUAA-VR-16KF-16) （41601491）
