Field‐based robotic phenotyping of sorghum plant architecture using stereo vision

Sorghum (Sorghum bicolor) is known as a major feedstock for biofuel production. To improve its biomass yield through genetic research, manually measuring yield component traits (e.g. plant height, stem diameter, leaf angle, leaf area, leaf number, and panicle size) in the field is the current best practice. However, such laborious and time‐consuming tasks have become a bottleneck limiting experiment scale and data acquisition frequency. This paper presents a high‐throughput field‐based robotic phenotyping system which performed side‐view stereo imaging for dense sorghum plants with a wide range of plant heights throughout the growing season. Our study demonstrated the suitability of stereo vision for field‐based three‐dimensional plant phenotyping when recent advances in stereo matching algorithms were incorporated. A robust data processing pipeline was developed to quantify the variations or morphological traits in plant architecture, which included plot‐based plant height, plot‐based plant width, convex hull volume, plant surface area, and stem diameter (semiautomated). These image‐derived measurements were highly repeatable and showed high correlations with the in‐field manual measurements. Meanwhile, manually collecting the same traits required a large amount of manpower and time compared to the robotic system. The results demonstrated that the proposed system could be a promising tool for large‐scale field‐based high‐throughput plant phenotyping of bioenergy crops.     

基于多线结构光的弱纹理物体形貌测量方法

大多数现有的主流结构光测量装置在被测物体的表面上投射单条激光,通过移动装置实现物体表面的扫描重建。为了实现物体表面的在线快速重建,将多线结构光和双目立体视觉理论相结合,设计了一种新的三维测量方法。提出了一种结合形态滤波和Zhang-Suen细化算法的光条骨架提取方法和基于光条序列关系的光条匹配算法,并通过极线约束实现光条上特征点的精确匹配。通过实验验证了方法的有效性,相对误差在3%以内。     

High quality 3D reconstruction based on fusion of polarization imaging and binocular stereo vision

Polarization imaging can retrieve inaccurate objects’ 3D shapes with fine textures, whereas coarse but accurate depths can be provided by binocular stereo vision. To take full advantage of these two complementary techniques, we investigate a novel 3D reconstruction method based on the fusion of polarization imaging and binocular stereo vision for high quality 3D reconstruction. We first generate the polarization surface by correcting the azimuth angle errors on the basis of registered binocular depth, to solve the azimuthal ambiguity in the polarization imaging. Then we propose a joint 3D reconstruction model for depth fusion, including a data fitting term and a robust low-rank matrix factorization constraint. The former is to transfer textures from the polarization surface to the fused depth by assuming their relationship linear, whereas the latter is to utilize the low-frequency part of binocular depth to improve the accuracy of the fused depth considering the influences of missing-entries and outliers. To solve the optimization problem in the proposed model, we adopt an efficient solution based on the alternating direction method of multipliers. Extensive experiments have been conducted to demonstrate the efficiency of the proposed method in comparison with state-of-the-art methods and to exhibit its wide application prospects in 3D reconstruction.     

如何确定球窝铣刀的直径

球窝铣刀是加工工件球窝的,其原理是:机床主轴带动工件回转的同时,铣刀与主轴轴线成40°回转并能前后进给,通过切削就完成了球窝的精加工。这样选择球窝铣刀的直径是非常重要的。     

靶场远程监测自动评估系统及弹落点定位研究

提出的靶场报靶系统实现对炮兵、航空兵对地火力打击的远程监测以及弹落点落地位置的自动评估,给部队作战训练效果提供有效的科学依据,同时也是建设数字化靶场的需要。系统基于无线网络传输终端及RS485,是具有分布式测量、无人值守、远程控制、人机交互界面友好等特点,实现弹落点自动识别定位、信息无线传输、数字化显示及数据管理等功能的三级报靶系统。系统构建基于双目立体视觉测量原理,相机25 fps连续采集100帧图像,实时在线实现15个弹落点定位解算,较好解决了超大三维空间下多个目标自动定位解算问题。     

红外立体辅助驾驶系统可行性研究

为解决当前夜间辅助驾驶仪平面显示的弊端,提出利用平行式红外双目立体系统用于夜间辅助驾驶的方案。分别从波段选择、体视半径和体视区域三个方面分析了系统的可行性,最后通过搭建的红外立体辅助驾驶系统对系统的可行性进行验证。结果表明,红外立体辅助驾驶系统可以有效解决当前夜间辅助驾驶仪平面显示的弊端,有利于驾驶员对路况作出正确的判断。     

智能立体车库系统组态设计

针对传统车库占用面积大、容量小、存取车等待时间长等问题,应用PLC控制技术和MCGS组态控制技术设计了一种旋转式智能立体车库系统。分析了该系统的组成和运行过程,设计了系统的首页界面、手动模式界面和自动模式界面,研究了设备的组态。     

基于立体视觉的数字图像相关方法在爆破抛掷作用研究中的应用

爆破抛掷物能否按照设计运动直接决定爆破工程的成败。为进一步研究爆破抛掷作用过程,量化研究抛掷物运动状态,本文采用数字图像相关和立体视觉原理,建立了爆破抛掷物运动观测系统。应用该系统观测了混凝土模型爆破试验过程,通过数字图像相关匹配算法进行抛掷物的跟踪,通过立体视觉技术计算抛掷物三维运动轨迹坐标,进而得到了其运动速度。结果表明,抛掷物的运动过程可分为整体加速运动和分散减速运动两个阶段。在第一阶段：在爆生气体推动下,抛掷物以一整体做加速运动,此阶段持续时间9ms,在6.5ms时抛掷物脱离爆破漏斗,最大速度可达16.63~19.65m/s;在第二阶段：抛掷物逐渐破裂、分散成块,处于不同区域、不同形状的碎块运动状态均不同,表面碎块的速度最大,可达26.24m/s,是潜在的爆破飞石,其只受到重力和空气阻力作用,做减速运动;中下部碎块在残余气体推动下,同样做减速运动,但减速缓慢,速度为9~16m/s;薄片状碎块在飞行中不断翻转,消耗自身动能,其中速度最小的仅为5~6m/s。整体运动阶段简单,而分散运动过程较复杂,除爆破参数、介质自身性质外,抛掷物碎块的形状、所处位置也会影响其运动状态,抛掷物表面碎块速度最大,更易形成爆破飞石。本文为量化研究爆破抛掷作用和预测爆破飞石提供了一种有效的新方法。     

基于多视图立体视觉的沙堆三维尺寸测量研究

利用从运动中恢复结构方法(SFM),提出了一种基于多视图立体视觉的沙堆三维重建及三维尺寸测量方法。首先根据SFM方法的求解不稳定特点,结合光束平差法对SFM求解过程进行分析及优化;其次针对SFM重建结果为稀疏点云的问题,利用基于面片的稠密重建算法重新生成稠密的三维点云,再利用泊松算法对密集点云进行三维曲面重建;最后获得模型的三维尺寸信息。对某建筑工地的沙堆进行了三维尺寸的测量实验,实验结果验证了该方法的有效及可行性,提高了重建能力及精度,同时考虑了目标实际测量误差与重建误差,能够满足实际智能测量的应用需求。     

高分辨率卫星遥感影像立体像对量测的实验——精度统计、分析总结和可行性分析

对0.31 m分辨率Worldview3立体像对带RPC参数的立体量测实验,采用不同的作业平台对立体像对进行量测实验,进行精度统计、分析总结和可行性分析。最终得出0.31 m分辨率Worldview3立体像对在1∶2 000比例尺3D产品生产的可行性,为生产服务打下基础和实践。