公开(公告)号：US20160203636A1

公开(公告)日：2016-07-14

申请号：US14378976

申请日：2013-09-13

Applicant: SHENZHEN INSTITUTES OF ADVANCED TECHNOLOGY CHINESE ACADEMY OF SCIENCES

Inventor： Hui HUANG ,  Shihao WU ,  Baoquan CHEN ,  Liangliang NAN

IPC: G06T17/00

CPC classification number: G06T17/00 ,  G06T2210/56

Abstract: A method for extracting a skeleton form a point cloud includes: obtaining inputted point cloud sampling data; contracting the point cloud using an iterative formula and obtaining skeleton branches, the iterative formula is: argmin X  ∑ i ∈ I   ∑ j ∈ J    x i - q i   θ  (  x j - q j  ) + R  ( X ) ,  wherein R  ( X ) = ∑ i ∈ I   γ i  ∑ i ′ ∈ I  \  { i }   θ  (  x i - x i ′  ) σ i   x i - x i ′  , θ  ( r ) =  - 4   r 2 h 2 , wherein J represents a point set of the point cloud sampling data, q represents the sampling points in the point set J, I represents a neighborhood point set of the sampling points q, x represents the neighborhood points in the neighborhood point set I, R is a regular term, γ is a weighting coefficient, h is a neighborhood radius of the neighborhood point set I, and σ is a distribution coefficient; and connecting the skeleton branches and obtaining a point cloud skeleton.

Abstract translation: 一种用于从点云提取骨架的方法包括：获得输入的点云采样数据; 使用迭代公式收集点云并获得骨架分支，迭代公式为：argmin XΣi∈IΣ∈;;;;;;;;;;;;;;; （X）其中R（X）=Σi∈IγΣΣΣas as;;;;;;;;;;;;;;;;;;;;;;;; （x i - x i'）＆sgr; 我;;;; （r）= - 4r 2 h 2，其中J表示点云采样数据的点集，q表示点集合J中的采样点，I表示采样点q的邻域点集 ，x表示邻域点集I中的邻域，R是常规项，γ是加权系数，h是邻域点集I的邻域半径，＆sgr; 是分布系数; 并连接骨架分支并获得点云骨架。

公开(公告)号：US20150379350A1

公开(公告)日：2015-12-31

申请号：US14765806

申请日：2013-09-13

Applicant: SHENZHEN INSTITUTES OF ADVANCED TECHNOLOGY

Inventor： Yangyan LI ,  Baoquan CHEN ,  Xiaochen FAN

IPC: G06K9/00 ,  G06T7/00

CPC classification number: G06K9/00657 ,  A01G22/00 ,  G06K9/00201 ,  G06T7/143 ,  G06T7/162 ,  G06T7/174 ,  G06T2207/10028 ,  G09B9/00

Abstract: 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.

Abstract translation: 公开了一种用于分割植物器官点云的方法和系统。 根据要分割的点云帧的先前相邻点云帧中的层点点云块和茎点云块的信息，以及要分割的点云帧的数据点的平坦度特征， 要分割的云点分为层点云块和茎点云块; 以相邻点云框为参照，划分点云框架，有助于分割的机关保持相邻点云帧之间的时间和空间的一致性，提高植物器官分裂的准确性。 当发现新的层点云块或茎点云块时，要点划分的点云块之前的点云将通过跟踪重新分割; 当重新划分时，根据下一相邻点云框中的层点云块和茎点云块的信息，待分割的点云帧被划分; 而跟踪回溯期间的重新划分有利于从点云框架中提取新的层点云块或茎点云块，这在以前的划分过程中未被发现，从而进一步提高了植物器官分裂的准确性。