METHOD AND SYSTEM FOR DIVIDING PLANT ORGAN POINT CLOUD

摘要

Disclosed are a method and system for dividing a plant organ point cloud. According to information about lamina point cloud blocks and stem point cloud blocks in a previous adjacent point cloud frame of a point cloud frame to be divided and a flatness feature of a data point of the point cloud frame to be divided, a point cloud of the point cloud frame to be divided is divided into lamina point cloud blocks and stem point cloud blocks; taking the adjacent point cloud frame as a reference to divide the point cloud frame facilitates the divided organ in maintaining the consistency of time and space between adjacent point cloud frames, and improves the accuracy of plant organ division. When a new lamina point cloud block or a stem point cloud block is discovered, the point cloud in the point cloud frame before the point cloud block to be divided is redivided through tracking back; when redividing, according to information about the lamina point cloud blocks and the stem point cloud blocks in the next adjacent point cloud frame, the point cloud frame to be redivided is divided; and the redivision during tracking back facilitates extracting, from the point cloud frame, a new lamina point cloud block or a stem point cloud block which was not discovered in the previous division process, thereby further improving the accuracy of plant organ division.

主权项

1. A method for dividing a plant organ point cloud, comprising the following steps S120-S160:
S120: acquiring point cloud frames corresponding to multiple plant growth times of a monitored plant, and denoting the acquired multiple point cloud frames as F1, . . . , Ft, . . . , Fn according to a sequence of the corresponding plant growth times; S140: dividing a point cloud in the first point cloud frame F1 into a lamina point cloud block and a stem point cloud block according to a flatness feature of a data point in the first point cloud frame F1; and S160: dividing the point cloud frames F2 to Fn after the first point cloud frame into lamina point cloud blocks and stem point cloud blocks according to a sequence of corresponding plant growth times, wherein the dividing a point cloud in a certain point cloud frame Ft (2≦t≦n) into a lamina point cloud block and a stem point cloud block comprises the following steps S220-S280: S220: according to information about a lamina point cloud block and a stem point cloud block in a previous point cloud frame Ft−1 of Ft and a flatness feature of a data point of the Ft, dividing the point cloud in the Ft into a lamina point cloud block and a stem point cloud block; S240: judging whether the number of the stem point cloud blocks contained in Ft is larger than that of the stem point cloud blocks contained in Ft−1 or whether the number of the lamina point cloud blocks contained in Ft is larger than that of the lamina point cloud blocks contained in Ft−1, if no, performing step S260, and if yes, performing step S280; S260: if t