基于动态树木图像序列的实时拼接系统及其深度信息检测

doi:10.11707/j.1001-7488.20140511

林业科学 ›› 2014, Vol. 50 ›› Issue (5): 82-89.doi: 10.11707/j.1001-7488.20140511

基于动态树木图像序列的实时拼接系统及其深度信息检测

郑加强¹, 贾志成¹, 周博¹, 周宏平¹, Zhu Heping²

1. 南京林业大学机械电子工程学院南京 210037;
2. 美国农业部ARS 应用技术研究中心 OH 44691, USA

收稿日期:2013-05-22 修回日期:2013-12-31 出版日期:2014-05-25 发布日期:2014-06-06
基金资助:
This work was supported by A Project Funded by the Priority Academic Program Development of Jiangsu Higher Education Institutions, Jiangsu Provincial Agricultural Science and Technology Supporting Project (BE2012383) & National Forestry Public Welfare Project (200904051).

Real-Time Mosaicing System and Distance Detection Based on Dynamic Tree Image Sequence

Zheng Jiaqiang¹, Jia Zhicheng¹, Zhou Bo¹, Zhou Hongping¹, Zhu Heping²

1. College of Mechanical and Electronic Engineering, Nanjing Forestry University Nanjing 210037;
2. USDA/ARS Application Technology Research Unit, Wooster, OH 44691, USA

Received:2013-05-22 Revised:2013-12-31 Online:2014-05-25 Published:2014-06-06

摘要/Abstract

摘要：

在为高大林木防治病虫害和减少农药使用量而开发对靶喷雾机时，需要拼接树木图像和测量目标树木的深度信息，本文搭建双摄像头硬件平台和三维几何算法模型开发了树木图像采集和拼接系统来处理动态树木图像序列和计算目标树木与摄像头之间的距离信息，建立起摄像机视野范围、光轴夹角、焦点距离和拼接图像重叠系数等与目标树木距离信息之间的几何算法函数关系。算法试验验证显示：本文树木图像采集和拼接系统能准确测量远至6.5 m的树木距离，而其最大测量误差仅为0.27 m 或 7.5%。本文图像拼接系统可用来开发基于有无目标树木和距离信息进行定量喷雾的精确喷雾机。

关键词: 农药精确喷雾, 几何算法, 动态树木图像序列, 图像处理与拼接, 距离检测

Abstract:

Techniques to detect target tree distances are needed for development of target-oriented sprayers to protect shade trees from pest and disease attacks and reduce pesticide use. A tree image acquisition and mosaicking system used a two-camera hardware platform and a 3-D geometrical algorithm was developed to process dynamic tree image sequences and to calculate the distance between the target tree and the two cameras. The geometric algorithm established the distance as a function of the camera field-of-view, angle between optical axes, distance of two points of camera focus and the overlapping coefficient of mosaicked images. Validation of the algorithm demonstrated that the image acquisition and mosaicking system accurately measure the tree distance within a 6.5 m range. The maximum error within this distance range was 0.27 m or 7.5%.The image mosaicking system would be a potential tool for future development of precision sprayers to deliver the desired amount of sprays to target trees based on the presence and distance of target trees.

Key words: precision pesticide spraying, geometrical algorithm, dynamic tree image sequence, image processing and mosaicing, distance detection

中图分类号:

S491

郑加强, 贾志成, 周博, 周宏平, Zhu Heping. 基于动态树木图像序列的实时拼接系统及其深度信息检测[J]. 林业科学, 2014, 50(5): 82-89.

Zheng Jiaqiang, Jia Zhicheng, Zhou Bo, Zhou Hongping, Zhu Heping. Real-Time Mosaicing System and Distance Detection Based on Dynamic Tree Image Sequence[J]. Scientia Silvae Sinicae, 2014, 50(5): 82-89.

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基于动态树木图像序列的实时拼接系统及其深度信息检测

Real-Time Mosaicing System and Distance Detection Based on Dynamic Tree Image Sequence

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