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田间叶片图像分割与单幅三维重建的机器视觉算法研究
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摘要
随着计算机技术和物联网的快速发展,运用机器视觉技术实现农业生产管理智能决策已成为可能。植株农学性状参数可视化获取是农业生产全过程数字化管理的重要一环。研究田间叶片图像分割与图像三维重建算法,实现农学性状参数的实时远程提取,对解决生产管理全过程的智能决策支持的问题具有重要的理论和现实意义。
     本文以果园田间叶片为研究对象,利用机器视觉系统解决远程获取农业生产现场叶片的农学性状参数的问题。综合机器视觉技术、图像处理技术和模式识别技术,研究自适应阈值的在线叶片图像分割方法。利用分割出的叶片区域研究由单幅图像恢复叶片三维表面的方法,计算叶面积。利用实时远程提取得到的农学性状参数,为生产管理提供智能决策支持。重点展开了以下几个方面的工作:
     ①针对自然光条件下,由实时在线系统拍摄的具有复杂背景的田间单片植物叶片分割成功率不高的问题,提出了一种自适应阈值的灰度映射函数,该映射方法使得运用本文的分割算法可以获得较高的分割成功率。在结合Canny和OTSU算子优势的分割算法,有效剔除了复杂的背景和强干扰日标的基础上,对基于边缘检测和基于闽值的分割方法不能去除的叶片边缘背景噪声,设计了丛于数学形态学和内外模板的优化方法,该方法优化分割结果后获取的目标区域连续,去除了与背景的粘连,使得叶片分割准确率提高。
     ②针对不同形态特征的植物叶片分割后的叶片日标区域的提取问题,设计了叶形判别算法和三种不同的连通区域提取方法,可更加准确地将叶片从分割后的连通区域中识别出来,该方法使得分割获得完整叶片目标率提高。同时对二维图像中无法对现场叶片位姿判断的问题,设计了叶片的位姿模板库,通过提取不同三维角度的叶片位姿的归一化形状在二维的投影特征,运用K-近邻空间聚类匹配模板,获取叶片位姿信息,并提出了两个仅与叶片边缘点相关的矩(弦长矩和弦夹角矩)。实验结果表明,叶片分割成功率达到72.5%。
     ③建立根据表面明暗变化的单幅图像三维重建算法。在求得朗伯体法矢量的p,q值和灰度值拟合方程的基础上,建立了由微朗勃体组成的基于邻域迭代的叶片的连续可积曲面方程,并利用约束方程,获得该曲面解系的一组解,利用该曲面上每一像素点与微朗伯体的切点构建三角网计算叶面积。针对叶片的亮度值跳跃区域重建效果的调整需要,研究了一个有效的三角形插值方法,从而实现了由单幅图像重建叶片三维表面的目标。
     ④集成了基于WEB和Internet的远程网络控制机器视觉设备系统,该系统能够根据控制算法和反馈信号来规定摄像设备的拍摄运动规则,并能远程实时调度设备运动,同时可实时获取现场设备的参数和图像数据。本文设计的机器视觉系统可以为图像分割与三维重建方法提供样本图像,并将图像识别结果反馈给决策系统,得到的植物性状参数可以为后续工作中的温室生产管理智能决策系统提供支持。
With the rapid development of computer technology and the Internet of things. to realize orchard production intelligent decision management by using the machine vision technology has become possible. To obtain the plant agronomic parameters visually is a important part of the whole process digital management of orchard production.The study on orchard leaf image segmentation and image reconstruction algorithm. is to solve the intelligent decision problems of production management.by the way of the real-time remote extraction of agronomic parameters in. This has important theoretical and practical significance.
     This paper. using orchard field leaves as the object of study. solve the problem of extracting parameters of agronomic using machine vision system by the remote access to agricultural production spot. Combining Integrated machine vision technology, image processing technology and pattern recognition technology, we research the segmentation method of online leaf image using adaptive threshold. Stduy the3D reconstruction method for recovering three-dimensional surface from a single image based on the region segmentation of leaf, and calculate leaf area. The usage of the real-time remote extracted agronomic parameters, can provide intelligent decision support for the production management. Focus on the following aspects of the work:
     QJln natural light conditions, some segmentation success ratio of field plant leaf with complex background captured by a real-time system is not high. In this paper we propose the gray mapping function and an adaptive threshold segmentation, the mapping method makes the segmentation algorithm used in this paper can obtain higher segmentation success rate. In the segmentation algorithm,we combine the edges segemented Canny and OTSU operator, remove the complex background and the strong interference targets.For the blade edge background noise, that cannot be removed by the operators based on edge detection and threshold segmentation, we design optimization method based on mathematical morphology and internal and external template, the target area segmentation results obtained after the optimization method continuous, remove adhesions and background, the leaf segmentation effect is very ideal.
     (2)In order to solve the problem of extracting the target area of plant leaf blades of different morphological features after segmentation, shape recognition algorithm and three kinds of connected region extraction method is designed, leaf area can be successfully identified from the connected region after segmentation, the method makes the segmentation obtaining complete leaf ratio is greatly improved. At the same time, the two-dimensional image is impossible in the problem of field vane position judgment. We design a template library of blade pose, extract the leaf different3D pose information from the projection of normalized shape characteristics of two-dimensional. We use K-nearest neighbor clustering to match the template, obtaining leaf pose information, and from the two only leaves the edge points related moment (Xian Changju chord angle moment).
     ③Set up the algorithm of3D reconstruction from single image surface according to brightness change. In Lambertian modle. using the fitting equation of the p.q value of the surface vector and the gray value, we establish the continuous integrable equation by blade micro Lambertian body composition. and use the constraint equation. obtain a set of solutions of the surface system of solutions. We use the point of each pixel on the surface of micro Lambertian body to construction triangulation to calculate leaf area.To meet the effect adjustment needs of brightness jump of the blade region reconstruction. we research an effective triangular interpolation method.
     ④We integrate the remote network control machine vision system based on WEB and Internet.The system can set camera shooting movement rules. and remote real-time schedule the equipment movement, according to the control algorithm and the feedback signal. The system also can obtain the equipment parameters and real-time image data. Machine vision system designed in this paper can provide sample images for image segmentation method and leaf area calculation. and image recognition results feedback to the decision system, parameters of the plant traits can give support for the follow-up work of the greenhouse production management intelligent decision system.
引文
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