论文标题
使用3D色点云将苹果分配给茂密果园中的单个树木
Assigning Apples to Individual Trees in Dense Orchards using 3D Color Point Clouds
论文作者
论文摘要
我们提出了一个3D色点云处理管道，以计算格子果园中单个苹果树的苹果。在树一级的水果计数需要分离树木，这在茂密的果园中具有挑战性。在冬季，我们采用从叶乌鸦果园中获得的点云，在那里看到分支结构，以描绘树冠。我们将苹果定位在收获期间获得的点云中。对齐两个点云使将苹果位置映射到描绘的冬季云，并将每个苹果分配给其轴承树。我们的苹果分配方法的准确率高于95％。除了提出可行性的第一个证明外，我们还提供了建议，以进一步改善我们的苹果分配管道。
We propose a 3D color point cloud processing pipeline to count apples on individual apple trees in trellis structured orchards. Fruit counting at the tree level requires separating trees, which is challenging in dense orchards. We employ point clouds acquired from the leaf-off orchard in winter period, where the branch structure is visible, to delineate tree crowns. We localize apples in point clouds acquired in harvest period. Alignment of the two point clouds enables mapping apple locations to the delineated winter cloud and assigning each apple to its bearing tree. Our apple assignment method achieves an accuracy rate higher than 95%. In addition to presenting a first proof of feasibility, we also provide suggestions for further improvement on our apple assignment pipeline.
