基于KinectV2的猪体三维点云重构与体尺测量

KinectV2-based 3D Point Cloud Reconstruction and Body Size Measurement of Pig Body

体尺参数是评价育肥猪生长状况的重要指标,针对单目CCD相机在猪体体尺测量中受角度、光源等因素影响导致的测量参数单一、测量结果误差较大等问题。首先利用深度相机KinectV2从正上方和左右两侧视角同步获取猪体局部点云数据;然后进行点云去噪、精简分割等处理,运用改进后的ICP点云配准技术处理点云信息;最后采用精确估算技术精简点云数据。在不同角度比较实验测量与人工测量的结果发现,猪体数据中体长平均相对误差为2.65%、体高平均相对误差为1.87%、体宽平均相对误差为1.75%、臀高平均相对误差为2.07%、臀宽平均相对误差为1.96%,整体上误差较小,证明了所提方法的有效性,以期为猪体尺寸测量提供新的解决方法。

Body size parameter is an important indicator for evaluating the growth status of fattening pigs.It addresses the problems of single measurement parameters and large measurement errors caused by factors such as angle and light source in pig body size measurement using a monocular CCD camera.Firstly,use the depth camera KinectV2 to synchronously obtain local point cloud data of the pig body from the top and left and right perspectives;Then,point cloud denoising,simplification and segmentation are carried out,and the improved ICP point cloud registration technology is used to process point cloud information;Finally,precise estimation techniques are used to streamline point cloud da-ta.Comparing the results of experimental and manual measurements from different angles,it was found that the average relative error of body length was 2.65%,the average relative error of body height was 1.87%,the average relative error of body width was 1.75%,the average rela-tive error of hip height was 2.07%,and the average relative error of hip width was 1.96%in pig body data.Overall,the error was relatively small,proving the effectiveness of the proposed method and providing a new solution for pig body size measurement.