基于激光雷达的枣树轮廓测量平台的设计与试验

Design and Test of a Lidar-Based Date Tree Profile Measuring Platform

针对枣树的三维轮廓信息重建,搭建了一种基于激光雷达的果树轮廓测量平台。通过在平台上的滑轨移动激光雷达获取果树的三维点云信息,采用MatLab软件对点云数据进行提取与处理。为了降低外部环境对点云数据处理的影响,采用高度统计直方图进行地面滤波实现地面点云的滤除,通过icp算法实现双侧点云的配准,应用欧氏聚类算法分割获取枣树点云数据。为验证研究方法的准确性,从点云轮廓数据中获取果树的冠幅数据与手工测量数据进行线性模型拟合对比,二者的相关系数R=0.91,均方根误差RMSE=0.06,相对误差RE=4.08%,拟合效果较好,说明此方法具有一定的可行性。

Aiming at the reconstruction of three-dimensional contour information of jujube tree,a fruit tree contour measurement platform based on lidar was built.The three-dimensional point cloud information of fruit trees was obtained by moving the lidar on the platform,and the point cloud data was extracted and processed by Matlab software.In order to reduce the impact of external environment on point cloud data processing,histogram of height statistics is used for ground filtering to realize the ground point cloud filtering,Icp algorithm was adopted to realize the registration of bilateral point cloud,and Euclidean clustering algorithm was adopted to segment and obtain the point cloud data.In order to verify the accuracy of this method,the crown size data of fruit trees obtained from point cloud contour data were compared with the manual measurement data by linear model fitting.The correlation coefficient R=0.91,RMSE=0.06,and relative error RE=4.08%were the correlation coefficients,which showed that this method had a good fitting effect.