王可,郭浩,马钦,苏伟,华明睿,朱德海.基于单视角点云镜像的猪只体尺测量方法[J].农业机械学报,2018,49(3):187-195.
WANG Ke,GUO Hao,MA Qin,SU Wei,HUA Mingrui,ZHU Dehai.Pig Body Size Measurement Method Based on Mirror Reflection of Single Angle Point Cloud[J].Transactions of the Chinese Society for Agricultural Machinery,2018,49(3):187-195.
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基于单视角点云镜像的猪只体尺测量方法   [下载全文]
Pig Body Size Measurement Method Based on Mirror Reflection of Single Angle Point Cloud   [Download Pdf][in English]
投稿时间:2017-10-10  
DOI:10.6041/j.issn.1000-1298.2018.03.023
中文关键词:  猪只  体尺测量  Xtion深度相机  点云  镜像
基金项目:国家自然科学基金项目(41601491)、国家科技重大专项(2014ZX0801203B)、中央高校基本科研业务费专项资金项目(2016QC016)和北京航空航天大学虚拟现实技术与系统国家重点实验室开放课题项目(BUAA-VR-16KF-16)
作者单位
王可 中国农业大学 
郭浩 中国农业大学 
马钦 中国农业大学 
苏伟 中国农业大学 
华明睿 中国农业大学 
朱德海 中国农业大学 
中文摘要:为了克服人工家畜体尺测量耗时、应激大和工作强度大等问题,提出了一种基于单视角点云镜像的猪只体尺测量方法。首先使用单Xtion深度相机采集包含猪体的场景点云图像序列,并人工筛选出包含背部弯曲程度较小猪体的场景点云图像,然后基于随机采样一致性算法和聚类分割算法自动化分割目标猪体并对其进行姿态归一化,检测单视角猪体点云对称面,并利用对称面镜像获取完整猪体,最后利用自主研发的体尺测量软件测量猪只体尺。试验结果表明,利用该方法测量体长的平均相对误差为5.00%,臀宽测量的平均相对误差为7.40%,臀高测量的平均相对误差为5.74%。该方法为猪只体尺测量提供了切实可行的新途径。
WANG Ke  GUO Hao  MA Qin  SU Wei  HUA Mingrui  ZHU Dehai
China Agricultural University,China Agricultural University,China Agricultural University,China Agricultural University,China Agricultural University and China Agricultural University
Key Words:pig  body size measurement  Xtion depth camera  point cloud  mirror reflection
Abstract:In order to overcome the problems of manual livestock body size measurement which is labor intensive, time consuming and stressful to the animals, a livestock body size measurement method based on the mirror reflection of single angle point cloud was proposed. A single depth camera Xtion was utilized to capture the sequences of point clouds of the scene, including pig and point clouds were stored in the computer, and then the scene point cloud, including the pig that bending degree of its back was not large was selected manually. Subsequently, the ground of the scene was deleted by using random sample consensus, the remaining scene point cloud was segmented based on Euclidean clustering, and then all the clusters were sorted according to the distance from the center of cluster to the coordinate origin, and the smallest one was extracted as the target pig. Pose normalization of the extracted pig was obtained by using a PCA based approach. Then, the pig symmetry plane was detected from the single angle point cloud by using the prior information of pig after pose normalization. Using the symmetry plane, the point clouds data of whole body surface of pig was obtained. Finally, by using the software developed by the institution of the authors, body size measurement was performed manually. The results showed that the average relative errors were 5.00% for body length measurement, 7.40% for hip width measurement and 5.74% for hip height measurement. This method offered a new way to measure the livestock body size.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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