Pig body size parameter measuring method based on point cloud

Abstract

The invention discloses a pig body size parameter measurement method based on point cloud, and relates to the field of whole pig measurement. According to the method, a Kinect calibration method is used for calibrating Kinect; related parameters of a Kinect camera of the system are obtained; two Kinects are erected at the top of a pig house; the distance between the two cameras is set to be 3000 mm to 4000 mm. The cameras are connected with a computer through a connecting device; a hardware system for point cloud detection is formed; pig point cloud data is collected; the acquired point clouddata is denoised through conditional filtering, statistical filtering and voxel filtering denoising algorithms to remove outliers through multi-element Gaussian distribution abnormal point detection,point cloud coarse registration is carried out on denoised point cloud through SAC-IA, point cloud fine registration is made through an ICP algorithm to obtain pig overall point cloud, and pig body size parameters are acquired through a geometrical characteristic extraction algorithm. The method has the advantages of high sensitivity, high precision and low labor intensity, and has very importantsignificance.

Description

technical field [0001] The invention belongs to the technical field of whole pig measurement, in particular to a method for measuring body size parameters of pigs based on point clouds. Background technique [0002] At present, the pig breeding industry is a livelihood industry that is closely related to people's lives. In the process of pig breeding, the size and weight of pigs are important indicators for judging the quality of a pig, but it is often inconvenient to measure the size of pigs. ; People often use cameras to collect and measure, use monocular or double-sided cameras to match parallax images, and rely more on additional light sources; too many camera groups are used, and the data collection cannot be streamlined and accurate; the data collection process is more cumbersome. [0003] After retrieval, the Chinese patent application number is CN200710119509.8, which discloses a method for monitoring the growth of pigs using binocular vision technology, which includ...

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Problems solved by technology

[0002] At present, the pig breeding industry is a livelihood industry that is closely related to people's lives. In the process of pig breeding, the size and weight of pigs are important indicators for judging the quality of a pig, but it is often inconvenient to measure the size of pigs. ; People often use cameras to collect and measure, and use monocular or double-sided cameras to match parallax images, which are more dependent on additional light sources; too many camera groups are used, and the data collection cannot be streamlined and accurate; the data collection process is more cumbersome

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