基于二维激光雷达植株高度测量系统的研究

Research on plant height measurement system based on two-dimensional LiDAR

植株高度数据的获取主要依靠人工测量的方式,这种方式不仅费时费力,而且具有一定的主观性。为了解决这一问题,构建了一个植株高度测量系统,设计了一种能够俯仰扫描的激光雷达扫描装置,通过控制二维激光雷达旋转,实现植株的三维重现,进而得到其高度信息。使用该系统,对绿萝和万年青这种单株植株采用侧面整体轮廓扫描的方式,得到侧面投影,计算得到高度;对小叶黄杨绿篱和金叶女贞绿篱多株植株采用随机抽样一致性算法(RANSAC)拟合修正,再使用曲线检测—正态核密度检测方法滤除冠层部分的离群点,从而计算得到高度。实验结果表明,利用该系统获取的植株高度与人工测量值的相对偏差最大不超过6%。该系统在植株高度测量方面,具有良好的实用价值。

The acquisition of plant height data mainly relies on manual measurement, which is not only time-consuming and labor-intensive, but also subjective. In order to solve this problem, a plant height measurement system was constructed, by controlling the rotation of the two-dimensional LiDAR, the three-dimensional reproduction of the plant is realized, and the height information is obtained. Using this system, for single plants such as green dill and evergreen, use the side overall contour scanning method to obtain the side projection and calculate the height;for the boxwood hedgerow and golden leaf ligustrum hedge, the random sampling consensus algorithm(RANSAC) is used to fit. The algorithm is revised, and then the curve detection-normal nuclear density detection method is used to filter out the outliers in the canopy, and the height is calculated. Experimental results show that the maximum relative deviation between the plant height obtained by this system and the manually measured value is less than 6%. This system has good practical value for plant height measurement.