Xiaojuan Li , Bo Liu , Yinggang Shi , Mingming Xiong , Dongyu Ren , Letian Wu , Xiangjun Zou
{"title":"用于果树智能修剪的高效三维重建和骨架提取技术","authors":"Xiaojuan Li , Bo Liu , Yinggang Shi , Mingming Xiong , Dongyu Ren , Letian Wu , Xiangjun Zou","doi":"10.1016/j.compag.2024.109554","DOIUrl":null,"url":null,"abstract":"<div><div>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 Time-of-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.</div></div>","PeriodicalId":50627,"journal":{"name":"Computers and Electronics in Agriculture","volume":"227 ","pages":"Article 109554"},"PeriodicalIF":7.7000,"publicationDate":"2024-11-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Efficient three-dimensional reconstruction and skeleton extraction for intelligent pruning of fruit trees\",\"authors\":\"Xiaojuan Li , Bo Liu , Yinggang Shi , Mingming Xiong , Dongyu Ren , Letian Wu , Xiangjun Zou\",\"doi\":\"10.1016/j.compag.2024.109554\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><div>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 Time-of-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.</div></div>\",\"PeriodicalId\":50627,\"journal\":{\"name\":\"Computers and Electronics in Agriculture\",\"volume\":\"227 \",\"pages\":\"Article 109554\"},\"PeriodicalIF\":7.7000,\"publicationDate\":\"2024-11-05\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Computers and Electronics in Agriculture\",\"FirstCategoryId\":\"97\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S0168169924009451\",\"RegionNum\":1,\"RegionCategory\":\"农林科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"AGRICULTURE, MULTIDISCIPLINARY\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Computers and Electronics in Agriculture","FirstCategoryId":"97","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0168169924009451","RegionNum":1,"RegionCategory":"农林科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"AGRICULTURE, MULTIDISCIPLINARY","Score":null,"Total":0}
Efficient three-dimensional reconstruction and skeleton extraction for intelligent pruning of fruit trees
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 Time-of-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.
期刊介绍:
Computers and Electronics in Agriculture provides international coverage of advancements in computer hardware, software, electronic instrumentation, and control systems applied to agricultural challenges. Encompassing agronomy, horticulture, forestry, aquaculture, and animal farming, the journal publishes original papers, reviews, and applications notes. It explores the use of computers and electronics in plant or animal agricultural production, covering topics like agricultural soils, water, pests, controlled environments, and waste. The scope extends to on-farm post-harvest operations and relevant technologies, including artificial intelligence, sensors, machine vision, robotics, networking, and simulation modeling. Its companion journal, Smart Agricultural Technology, continues the focus on smart applications in production agriculture.