基于激光雷达的花生植株三维重建系统与方法研究

Research on three-dimensional reconstruction system and method of peanut plant based on LiDAR

植株的形态结构是作物栽培及育种研究的关键筛选指标,重建花生植株的三维模型结构对花生表型参数的获取具有重要意义。本文设计了1个基于激光雷达的花生植株三维重建系统与方法,利用激光雷达搭配滑台模组和高精度电控旋转台获取花生植株三维点云数据,并对采集到的花生植株点云数据进行直通滤波、统计滤波、配准融合等处理,去除背景信息、滤除离群点,重建花生植株三维模型,并提取幼苗期和开花下针期花生植株的株长、株宽、株高3个表型参数,进行精度评估。结果表明,在幼苗期和开花下针期重建的花生植株三维模型平均精度分别达到96.47%和96.45%。

The morphological structure of the plant is a key screening index for crop cultivation and breeding researches.The reconstruction of the 3D model structure of peanut plants is important for the acquisition of peanut phenotypic parameters.In this paper,we designed a LIDAR-based 3D reconstruction system and method for peanut plant.LIDAR with slide module and high-precision electronically controlled rotary table were used to obtain 3D point cloud data of peanut plant that were processed by direct-pass filtering,statistical filtering,and alignment fusion to remove background information,filter outliers,reconstruct the peanut plant 3D model,and extract phenotypic parameters.Three phenotypic parameters including plant length,plant width and plant height at the seedling and pegging stages were extracted and evaluated for accuracy.The results showed that the average accuracy of the reconstructed peanut plant 3D models at the seedling stage and pegging stage reached 96.47%and 96.45%,respectively.