CN108414454A - The synchronized measurement system and measurement method of a kind of plant three-dimensional structure and spectral information - Google Patents
The synchronized measurement system and measurement method of a kind of plant three-dimensional structure and spectral information Download PDFInfo
- Publication number
- CN108414454A CN108414454A CN201810073034.1A CN201810073034A CN108414454A CN 108414454 A CN108414454 A CN 108414454A CN 201810073034 A CN201810073034 A CN 201810073034A CN 108414454 A CN108414454 A CN 108414454A
- Authority
- CN
- China
- Prior art keywords
- image
- full
- plant
- sensor
- binocular
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
Landscapes
- Physics & Mathematics (AREA)
- Spectroscopy & Molecular Physics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Investigating Or Analysing Materials By Optical Means (AREA)
- Image Processing (AREA)
- Image Analysis (AREA)
Abstract
The embodiment of the present invention provides a kind of plant three-dimensional structure and the synchronized measurement system and measurement method of spectral information.Wherein, the system comprises：Harvester and processing center；Harvester is used for high spectrum image, full-colour image and the binocular RGB image of synchronous acquisition plant, and is sent to processing center；Processing center handle and then obtains the three-dimensional structure and spectral information of plant to high spectrum image, full-colour image and binocular RGB image for receiving high spectrum image, full-colour image and binocular RGB image.Plant three-dimensional structure provided in an embodiment of the present invention and synchronized measurement system and the measurement method of spectral information survey i.e. gained, it can be achieved that plant three-dimensional structure and corresponding spectral information measurement in real time；Provide efficient sensor tool to carry out the variation of plant growth dynamic monitoring canopy structure and physiological ecological variation, disclosure satisfy that accurate information obtain, the demand of Accurate Model and accurate decision, can greatly push Making A Strategic Decision of The Agricultural Productions information-based.
Description
Technical field
The present embodiments relate to image variants technical field, specially a kind of plant three-dimensional structure and spectrum letter
The synchronized measurement system and measurement method of breath.
Background technology
In growing process its canopy structure can with growth course occur significant changes, while by nutrient, arid and
Pest and disease damage influences its aerial part (blade, stalk, fruit etc.) and will present different physiological ecological variations.In order to precisely monitor plant
Dynamic structure and physiological change, it is necessary to rely on high precision monitor instrument.It is mainly supervised respectively by two class sensors at this stage
Survey, for plant canopy structure (plant three-dimensional structure) mainly utilize lidar measurement method, for spectral information mainly according to
Rely imaging or non-imaged spectral class sensor.
When measuring plant canopy structure using laser radar method, although point cloud can directly embody plant structure feature,
But point cloud density is still restricted, and high scan line laser radar is of high cost；Further, it is necessary to ancillary terrestrial reference difference positioning system
System could realize the splicing of some clouds, increase technical difficulty.When using non-imaged spectral class sensor measurement spectral information,
Due to its acquisition spectral information be all atural objects within the scope of certain space mixed spectra, data volume very little, efficiency of transmission and
Spectral accuracy is high.But it is difficult to meet and carries out fine physiological ecological detection requirement between inside plants or component, that is, plant cannot be distinguished
Canopy different piece physiological ecological difference (such as pigment, moisture, biomass, pest and disease damage, photosynthetic ...).Existing measurement plant canopy knot
Structure and measurement plant EO-1 hyperion separately carry out, it is difficult to while plant canopy structure and spectral information are obtained, it cannot be satisfied plant life
Long dynamic structure variation and physiological ecological change Simultaneous Monitoring demand.
Invention content
To solve the problems, such as that existing plant three-dimensional structure and spectral information cannot achieve synchro measure, the embodiment of the present invention carries
For a kind of plant three-dimensional structure and the synchronized measurement system and measurement method of spectral information.
In a first aspect, the embodiment of the present invention provides a kind of plant three-dimensional structure and the synchronized measurement system of spectral information, it should
System includes：Harvester and processing center；Wherein, high spectrum image, complete of the harvester for synchronous acquisition plant
Color image and binocular RGB image, and the high spectrum image, the full-colour image and the binocular RGB image are sent to institute
State processing center；The processing center is used to receive the high spectrum image, the full-colour image and the binocular RGB image,
And the high spectrum image, the full-colour image and the binocular RGB image handle and then obtain the three of the plant
Tie up structure and spectral information.
Second aspect, the embodiment of the present invention provide the method for synchronously measuring of a kind of plant three-dimensional structure and spectral information, should
Method includes：Using the high spectrum image of harvester synchronous acquisition plant, full-colour image and binocular RGB image, and will be described
High spectrum image, the full-colour image and the binocular RGB image are sent to processing center；The processing center receives the height
Spectrum picture, the full-colour image and the binocular RGB image, and to the high spectrum image, the full-colour image and described
Binocular RGB image handle and then obtains the three-dimensional structure and spectral information of the plant.
The synchronized measurement system and measurement method of plant three-dimensional structure provided in an embodiment of the present invention and spectral information, can be real
Plant three-dimensional structure and corresponding spectral information measure when real, survey i.e. gained, solve and currently measure plant hat in real time
Layer three-dimensional structure and spectral information can not synchro measure problems；To carry out the variation of plant growth dynamic monitoring canopy structure and physiology
Ecological Changes provide efficient sensor tool, disclosure satisfy that accurate information obtain, the demand of Accurate Model and accurate decision,
It can greatly push Making A Strategic Decision of The Agricultural Productions information-based.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Some bright embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the synchronized measurement system structural representation of plant three-dimensional structure provided in an embodiment of the present invention and spectral information
Figure；
Fig. 2 is the harvester of plant three-dimensional structure provided in an embodiment of the present invention and the synchronized measurement system of spectral information
Structural schematic diagram；
Fig. 3 be the synchronized measurement system of plant three-dimensional structure provided in an embodiment of the present invention and spectral information planar array type at
Image height spectrum sensor structural schematic diagram；
Fig. 4 is fixed for the sensor of plant three-dimensional structure provided in an embodiment of the present invention and the synchronized measurement system of spectral information
Mark result schematic diagram；
Fig. 5 is the method for synchronously measuring flow chart of plant three-dimensional structure provided in an embodiment of the present invention and spectral information；
Fig. 6 is the method for synchronously measuring schematic diagram of plant three-dimensional structure provided in an embodiment of the present invention and spectral information.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
The every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Fig. 1 is the synchronized measurement system structural representation of plant three-dimensional structure provided in an embodiment of the present invention and spectral information
Figure.As shown in Figure 1, the system comprises：
Harvester 10 and processing center 20；
Wherein, the harvester 10 is for the high spectrum image of synchronous acquisition plant, full-colour image and binocular RGB figures
Picture, and the high spectrum image, the full-colour image and the binocular RGB image are sent to the processing center 20；
The processing center 20 is used to receive the high spectrum image, the full-colour image and the binocular RGB image, and
To the high spectrum image, the full-colour image and the binocular RGB image handle and then obtain the three-dimensional of the plant
Structure and spectral information.
Plant three-dimensional structure provided in an embodiment of the present invention and the synchronized measurement system of spectral information include harvester 10
With processing center 20, in order to obtain plant three-dimensional structure and corresponding spectral information, 10 synchronous acquisition plant of the harvester
High spectrum image, full-colour image and binocular RGB image, and by the high spectrum image, full-colour image and binocular RGB image send out
It send to processing center 20 and is handled.Processing center 20 receives 10 synchronous acquisition of harvester and the high-spectrum of transmission
After picture, full-colour image and binocular RGB image, the spectral information is obtained according to the high spectrum image and the full-colour image,
The plant three-dimensional structure information is obtained according to the binocular RGB image, and due to the high spectrum image, full-colour image and double
Mesh RGB image is synchronous acquisition, it is possible to obtain plant three-dimensional structure information pass corresponding with the spectral information
System, can also obtain the plant three-dimensional structure information and the corresponding spectral information.
Plant three-dimensional structure provided in an embodiment of the present invention and the synchronized measurement system of spectral information are, it can be achieved that real-time plant
Three-dimensional structure and corresponding spectral information measure, and survey i.e. gained, solve and currently measure plant canopy three-dimensional structure in real time
It can not synchro measure problem with spectral information；It is carried to carry out the variation of plant growth dynamic monitoring canopy structure and physiological ecological variation
Supplied efficient sensor tool, disclosure satisfy that accurate information obtain, the demand of Accurate Model and accurate decision, can greatly push away
Dynamic Making A Strategic Decision of The Agricultural Productions is information-based.
Further, it is based on above-described embodiment, the harvester 10 is integrated with planar array type imaging bloom spectrum sensor, complete
Color image sensor, binocular RGB camera and microcontroller；Wherein, the planar array type imaging bloom spectrum sensor is described for acquiring
The high spectrum image of the default wave band of plant；The full-colour image sensor is used to acquire the full-colour image of the plant；It is described
Binocular RGB camera is used to acquire the binocular RGB image of the plant, and the binocular RGB camera is by two RGB cameras with model
It constitutes；The microcontroller is for being uniformly controlled the planar array type imaging bloom spectrum sensor, the full-colour image sensor and institute
The time for exposure of binocular RGB camera is stated, and the high spectrum image, the full-colour image and the binocular RGB image are sent
To the processing center.
Fig. 2 is the harvester of plant three-dimensional structure provided in an embodiment of the present invention and the synchronized measurement system of spectral information
Structural schematic diagram.As shown in Fig. 2, the harvester 10 is integrated with planar array type imaging bloom spectrum sensor, (planar array type is imaged
EO-1 hyperion camera), full-colour image sensor (full-color camera), binocular RGB camera and microcontroller.
Current imaging EO-1 hyperion is most of all to use the imaging of linear array push-broom type since data volume is big, although ensure that compared with
High spectral resolution, but in order to obtain space continuous spectrum, it is necessary to it relies on mechanical platform athleticism and obtains continuous space light
Spectrum information is not suitable for the real-time measurement pattern of fixed point；And the ultimate challenge of linear array push-broom type imaging is that scan line space geometry is matched
Standard, single scan line, which is difficult to provide more auxiliary informations, accurately to be corrected.So far, this kind of line sweeps bloom spectrometer mainly also
It is to be used for satellite platform or someone's heading control platform, it is difficult to apply in the unstable mobile platform such as near-earth or unmanned plane.Therefore,
The embodiment of the present invention in order to realize be suitble to fixed point, ground is portable, mobile platform (measuring vehicle, guide rail car ...) and near-space (unmanned plane,
Aerial airship ...) synchronized measurement system of plant three-dimensional structure and spectral information used is carried, harvester 10 uses face
Configuration is imaged bloom spectrum sensor, it can be achieved that real-time continuous spatial spectral Quick Acquisition.
Fig. 3 be the synchronized measurement system of plant three-dimensional structure provided in an embodiment of the present invention and spectral information planar array type at
Image height spectrum sensor structural schematic diagram.The planar array type imaging bloom spectrum sensor is used to acquire the default wave band of the plant
High spectrum image.Planar array type is imaged the selector channels bloom spectrum sensor CCD response range and covers 400-900nm wavelength bands,
And the added filter on CMOS can be adopted and arbitrarily be no less than 25 wavelength bands in 400-900nm wavelength bands,
Each wave band pixel number 512 × 272.In view of observing plant physiological ecology particularity, main selection is as follows：Green wave band -530-
The interval 580nm, 10nm, 5 wave bands；Red wave band -630-670nm, the intervals 10nm, 4 wave bands；Red side wave section -680-740nm,
10nm, 6 wave bands；The intervals near infrared band -780-880nm, 10nm, 10 wave bands.Amount to 25 wave bands above.
Most current planar array type is imaged bloom spectrum sensor and is mainly drawn by carrying out spectrum matrix on cmos detector
Point, filtering coating is increased to different-waveband, to obtain the imaging spectral information of certain amount wave band.This mode can be efficient
Imaging spectral information is acquired, imaging spectrum system structure is very simple.But since cmos sensor size limits, if be added to
As wave band, then dividing the first number of the corresponding spy of spectral coverage on CCD will accordingly be reduced, the spatial resolution of imaging spectral is eventually led to
It reduces.For example, if cmos sensor has 1000*1000 to visit member, if obtaining 20 band class informations, each wave band occupies
Spy member number be 50*50.Which results in imaging spectrometer data resolution ratio well below conventional RGB camera image resolution ratio.
Therefore, bloom spectrum sensor is imaged using planar array type, is limited by cmos sensor size, spatial resolution and wave
Hop count mesh mutual exclusion, wave band number more large space resolution ratio are lower.The low spectrum that may result in acquisition of spatial resolution is mostly to mix
Different plant component physiological ecological differences still cannot be distinguished in spectrum.For that purpose it is necessary to by its spatial resolution enhancement, its sky is realized
Between resolution ratio it is consistent with structural information spatial resolution.Plant three-dimensional structure provided in an embodiment of the present invention and spectral information it is same
Measuring system is walked by synchronous acquisition full-colour image, and then realizes the spatial resolution of enhanced spectrum information.The full-colour image
Sensor is used to acquire the full-colour image of the plant, and full-colour image sensor also needs covering 400-900nm wavelength bands.
The binocular RGB camera is used to acquire the binocular RGB image of the plant, and the binocular RGB image refers to by two
The RGB image that platform RGB camera is acquired, the binocular RGB camera are made of two RGB cameras with model.The present invention is implemented
Example obtains the three of the plant by three-dimensional structure measurement sensor based on binocular vision namely the binocular RGB camera
Tie up structural information.Two RGB cameras need to keep parallax range 210mm, and field angle is 28 °, ensure to shoot simultaneously in visual field
RGB image degree of overlapping reaches measurement in space requirement.
For measuring for plant canopy structure, in order to obtain the canopy structure three-dimensional information of continuous space distribution, pass through
Stereo-visiuon measurement is more feasible method, at low cost compared with laser radar method and easily operated.Based on binocular stereo vision
Three-dimensional measurement be a kind of passive type non-contact measurement method, it can also be obtained other than wide, the high information that can obtain target
Obtain the range information of target.Binocular stereo vision measurement method is with efficient, precision is suitable, system structure is simple, at low cost
The advantages that, it is very suitable for live online, non-contact detection.
The microcontroller for be uniformly controlled planar array type imaging bloom spectrum sensor, the full-colour image sensor and
The time for exposure of the binocular RGB camera, to realize synchronous acquisition, and configure solid state memory space；When control mode has fixed
Between interval automatic collection, artificial triggering collection both of which, it is consistent to be uniformly controlled four sensor exposure times.The microcontroller
The high spectrum image of synchronous acquisition, the full-colour image and the binocular RGB image are sent to the processing center, with
The synchro measure for realizing plant three-dimensional structure and spectral information obtains plant three-dimensional structure and corresponding spectral information.It is appreciated that
, the microcontroller also can locally realize the place to the high spectrum image, the full-colour image and the binocular RGB image
Reason.
On the basis of the above embodiments, the embodiment of the present invention realizes binocular stereo vision by integrating two RGB cameras
Observation, canopy structure three-dimensional information can be calculated by stereoscopic measurement method in real time；It is sensed using planar array type imaging EO-1 hyperion
Device obtains observation area plant spectral information；High resolution graphics is obtained using panchromatic single channel camera (full-colour image sensor)
Picture；Real-time herborization continuous space structural information and spectral information can be achieved, and ensure structure and the complete correspondence of spectrum；It is suitable
For one-point measurement and ground, portable, mobile platform and UAV flight use.
Further, above-described embodiment, pixel number and the imaging of the full-colour image sensor and the RGB camera are based on
Rate is identical.
For ease of processing center 20 to the high spectrum image, the full-colour image and the binocular RGB image at
It manages and then obtains the three-dimensional structure of the plant and corresponding spectral information, the high spectrum image, full-colour image and binocular RGB
Image need to synchronize acquisition, and the full-colour image sensor and the pixel number and imaging rate of the RGB camera need to be identical.
For example, full-colour image sensor may be configured as pixel number 2048 × 2048, signal-to-noise ratio 60dB, imaging rate is 90 frames/second；
It is 2048 × 2048 that RGB camera, which is set as pixel number, signal-to-noise ratio 60dB, and imaging rate is 90 frames/second.
On the basis of the above embodiments, the picture of setting of the embodiment of the present invention full-colour image sensor and the RGB camera
Prime number is identical with imaging rate, and basis is provided to obtain plant three-dimensional structure and corresponding spectral information.
Further, it is based on above-described embodiment, the processing center is for the high spectrum image, the full-colour picture
When picture and the binocular RGB image handle and then obtain the three-dimensional structure and spectral information of the plant, it is specifically used for：
To the RGB camera acquisition the binocular RGB image calculated in real time, including interior orientation, homotopy mapping,
The elements of exterior orientation of three encryption of sky and the RGB camera calculates, and three dimensional point cloud is generated, to obtain the three-dimensional of the plant
Structural information；
The left and right sides image of each RGB camera acquisition is calculated in real time, key step includes：It is interior orientation, of the same name
Point matching, three encryption of sky, two RGB camera elements of exterior orientation calculate (aerial trigonometric coordinates X, Y, Z and posture-pitch angle, rolling
Angle, angle of drift).Three dimensional point cloud is automatically generated using elements of exterior orientation is calculated.The three dimensional point cloud includes the plant
The location coordinate information of object and its component part, therefore the three-dimensional of the plant can be obtained according to the three dimensional point cloud and tied
Structure information.
The high spectrum image for being acquired planar array type imaging bloom spectrum sensor using spatial spectral blending algorithm
Real time fusion is carried out with the full-colour image of full-colour image sensor acquisition, fusion high-spectral data is generated, to obtain
Take the spectral information of the plant；
Planar array type imaging bloom spectrum sensor acquisition observation area Imaging Hyperspectral Data, i.e., the described high spectrum image, entirely
Color image sensor acquires full-color high resolution image simultaneously, i.e., the described full-colour image.Processing center is to the high spectrum image
The two fusion in real time is realized using spatial spectral blending algorithm, generate high-resolution high-spectral data with the full-colour image.Melt
Hop algorithm selects Modulation Transfer Function-Generalized Laplacian Pyramid (MTF-GLP)
Algorithm successively merges each wave band of Imaging Hyperspectral Data with full-colour image data.The cardinal principle of algorithm is to complete
Color image carries out space filtering and generates detailed information, and then these detail information are dissolved into high spectrum image, improves high
The spatial resolution of spectrum picture.The innovative point of MTF-GLP methods is that Gaussian filter is adjusted to EO-1 hyperion in filtering
The modulation transfer function of sensor used in Image Acquisition, therefore the height that the structural model between EO-1 hyperion wave band generates after fusion
It is maintained in spectrum picture, to reduce spectrum distortion.
The spatial correspondence of the binocular RGB image and the high spectrum image is obtained using sensor scaling parameter,
The correspondence of the binocular RGB image and the three dimensional point cloud is obtained using the elements of exterior orientation, and then establishes institute
Three dimensional point cloud and the correspondence for merging high-spectral data are stated, to obtain the three-dimensional structure letter of the plant
Breath and the corresponding spectral information.
Using the resolving parameter etc. of sensor scaling parameter, elements of exterior orientation, binocular RGB image and described is set up respectively
The spatial correspondence of high spectrum image, the correspondence of binocular RGB image and the three dimensional point cloud；Therefore it can establish
The correspondence of the three dimensional point cloud and the high spectrum image.Since the fusion high-spectral data is by the EO-1 hyperion
Image and the full-colour image are merged and are obtained, and therefore, the fusion high-spectral data has corresponding close with the high spectrum image
System.That is, the three dimensional point cloud and the correspondence for merging high-spectral data can be established, to obtain the plant
The three-dimensional structure information of object and the corresponding spectral information.
On the basis of the above embodiments, the embodiment of the present invention by based on binocular vision three-dimensional structure measurement sensor with
Planar array type imaging bloom spectrum sensor is organically combined, and is differentiated to improve planar array type imaging EO-1 hyperion sensor space
Rate is merged using imaging spectrometer data is carried out spatial spectral with full-colour image sensor gathered data, is finally planted in real time
Object three-dimensional canopy structure information and corresponding high-resolution high-spectral data, three-dimensional canopy structure are corresponded with spectral Dimensions,
It realizes plant canopy three-dimensional structure and spectroscopic simultaneous obtains.
Further, it is based on above-described embodiment, the system also includes：Robot scaling equipment, the robot scaling equipment are used for institute
It states planar array type imaging bloom spectrum sensor, the full-colour image sensor and the binocular RGB camera and carries out uniform spaces calibration,
Centered on the planar array type is imaged bloom spectrum sensor, planar array type imaging bloom spectrum sensor, described complete is marked respectively
The imaging center position coordinates of color image sensor and the binocular RGB camera obtain sensor scaling parameter；And by the biography
Sensor scaling parameter is sent to the processing center.
If the sensor scaling parameter of each sensor of the harvester is unknown, the system also includes calibrations
Device, for before measuring to planar array type imaging bloom spectrum sensor, the full-colour image sensor and the binocular
RGB camera carries out uniform spaces calibration.The robot scaling equipment is marked respectively centered on the planar array type is imaged bloom spectrum sensor
Go out the imaging center position of the planar array type imaging bloom spectrum sensor, the full-colour image sensor and the binocular RGB camera
Coordinate is set, sensor scaling parameter is obtained.Wherein, the sensor scaling parameter is the imaging center position coordinates.
Fig. 4 is fixed for the sensor of plant three-dimensional structure provided in an embodiment of the present invention and the synchronized measurement system of spectral information
Mark result schematic diagram.As shown in figure 4, the imaging center position coordinates of four sensors are respectively：Planar array type is imaged EO-1 hyperion and passes
Sensor (i0, j0), a RGB camera left side (i2, j2), the RGB camera right side (i1, j1), full-colour image sensor (i3, j3).Robot scaling equipment
The sensor scaling parameter is sent to the processing center 20, in imaging of the processing center 20 according to four sensors
Heart position coordinates, you can obtain the calibration transformational relation between them.
On the basis of the above embodiments, the embodiment of the present invention to planar array type by being imaged bloom spectrum sensor, full-colour picture
As sensor and the progress uniform spaces calibration of binocular RGB camera, ensure that the mutual space projection of four sensors corresponds, most
The matching of structural information and spectral information is realized eventually.
Fig. 5 is the method for synchronously measuring flow chart of plant three-dimensional structure provided in an embodiment of the present invention and spectral information.Such as
Shown in Fig. 5, the method includes：
Step 101, using the high spectrum image of harvester synchronous acquisition plant, full-colour image and binocular RGB image, and
The high spectrum image, the full-colour image and the binocular RGB image are sent to processing center；
Step 102, the processing center receive the high spectrum image, the full-colour image and the binocular RGB image,
And the high spectrum image, the full-colour image and the binocular RGB image handle and then obtain the three of the plant
Tie up structure and spectral information.
In order to obtain plant three-dimensional structure and corresponding spectral information, the height of the harvester synchronous acquisition plant is utilized
Spectrum picture, full-colour image and binocular RGB image, and the high spectrum image, full-colour image and binocular RGB image are sent to
Processing center is handled.Processing center receives harvester synchronous acquisition and the high spectrum image, the full-colour picture of transmission
After picture and binocular RGB image, the spectral information is obtained according to the high spectrum image and the full-colour image, according to described double
Mesh RGB image obtains the plant three-dimensional structure information, and due to the high spectrum image, full-colour image and binocular RGB image
It is synchronous acquisition, it is possible to obtain the correspondence of the plant three-dimensional structure information and the spectral information, also
To obtain the plant three-dimensional structure information and the corresponding spectral information.
The method for synchronously measuring of plant three-dimensional structure provided in an embodiment of the present invention and spectral information is, it can be achieved that real-time plant
Three-dimensional structure and corresponding spectral information measure, and survey i.e. gained, solve and currently measure plant canopy three-dimensional structure in real time
It can not synchro measure problem with spectral information；It is carried to carry out the variation of plant growth dynamic monitoring canopy structure and physiological ecological variation
Supplied efficient sensor tool, disclosure satisfy that accurate information obtain, the demand of Accurate Model and accurate decision, can greatly push away
Dynamic Making A Strategic Decision of The Agricultural Productions is information-based.
Further, it is based on above-described embodiment, the harvester is integrated with planar array type imaging bloom spectrum sensor, panchromatic
Imaging sensor, binocular RGB camera and microcontroller, it is the high spectrum image using harvester synchronous acquisition plant, panchromatic
Image and binocular RGB image, and the high spectrum image, the full-colour image and the binocular RGB image are sent to processing
Center specifically includes：The high spectrum image of the default wave band of the plant is acquired using planar array type imaging bloom spectrum sensor；Profit
The full-colour image of the plant is acquired with full-colour image sensor；The binocular RGB that the plant is acquired using binocular RGB camera is schemed
Picture, the binocular RGB camera are made of two RGB cameras with model；The planar array type is uniformly controlled using microcontroller to be imaged
The time for exposure of bloom spectrum sensor, the full-colour image sensor and the binocular RGB camera, and by the high-spectrum
Picture, the full-colour image and the binocular RGB image are sent to the processing center.
The high spectrum image of the default wave band of the plant is acquired using planar array type imaging bloom spectrum sensor.Face battle array
Formula is imaged the selector channels bloom spectrum sensor CCD response range and covers 400-900nm wavelength bands.In view of observing plant physiology
Ecological particularity, main selection are as follows：Green wave band -530-580nm, the intervals 10nm, 5 wave bands；Red wave band -630-670nm,
The intervals 10nm, 4 wave bands；- 680-740nm, 10nm, 6 wave bands of red side wave section；Between near infrared band -780-880nm, 10nm
Every 10 wave bands.Amount to 25 wave bands above.
The full-colour image that the plant is acquired using the full-colour image sensor, to realize the space of enhanced spectrum information
Resolution ratio.Full-colour image sensor also needs covering 400-900nm wavelength bands.
Using the binocular RGB image of binocular RGB camera herborization, the binocular RGB image refers to by two RGB cameras
The RGB image acquired, the binocular RGB camera are made of two RGB cameras with model.Two RGB cameras need to keep
Parallax range 210mm, field angle are 28 °, ensure that shooting RGB image degree of overlapping reaches measurement in space requirement simultaneously in visual field.
It is uniformly controlled planar array type imaging bloom spectrum sensor, the full-colour image sensor and described using microcontroller
The time for exposure of binocular RGB camera, to realize synchronous acquisition；Control mode has Fixed Time Interval automatic collection, artificial triggering
Both of which is acquired, it is consistent to be uniformly controlled four sensor exposure times.Using microcontroller by the high spectrum image, described complete
Color image and the binocular RGB image are sent to the processing center.To realize the synchronization of plant three-dimensional structure and spectral information
It measures, obtains plant three-dimensional structure and corresponding spectral information.
On the basis of the above embodiments, the embodiment of the present invention realizes binocular stereo vision by integrating two RGB cameras
Observation, canopy structure three-dimensional information can be calculated by stereoscopic measurement method in real time；It is sensed using planar array type imaging EO-1 hyperion
Device obtains observation area plant spectral information；High-definition picture is obtained using panchromatic single channel camera；Acquisition in real time can be achieved
Plant continuous space structural information and spectral information, and ensure structure and the complete correspondence of spectrum；Suitable for one-point measurement and ground
Face is portable, mobile platform and UAV flight use.
Further, above-described embodiment, pixel number and the imaging of the full-colour image sensor and the RGB camera are based on
Rate is identical.
The high spectrum image, the full-colour image and the binocular RGB image are handled for ease of processing center
And then the three-dimensional structure of the plant and corresponding spectral information are obtained, the high spectrum image, full-colour image and binocular RGB figures
As that need to synchronize acquisition, and the full-colour image sensor and the pixel number and imaging rate of the RGB camera need to be identical.Than
Such as, full-colour image sensor may be configured as pixel number 2048 × 2048, signal-to-noise ratio 60dB, and imaging rate is 90 frames/second；RGB
It is 2048 × 2048 that camera, which is set as pixel number, signal-to-noise ratio 60dB, and imaging rate is 90 frames/second.
On the basis of the above embodiments, the picture of setting of the embodiment of the present invention full-colour image sensor and the RGB camera
Prime number is identical with imaging rate, and basis is provided to obtain plant three-dimensional structure and corresponding spectral information.
Further, it is based on above-described embodiment, it is described to the high spectrum image, the full-colour image and the binocular
RGB image handle and then obtains the three-dimensional structure of the plant and spectral information specifically includes：The RGB camera is acquired
The binocular RGB image calculated in real time, including interior orientation, homotopy mapping, three encryption of sky and the RGB camera it is outer
The element of orientation calculates, and three dimensional point cloud is generated, to obtain the three-dimensional structure information of the plant；It is merged using spatial spectral
Algorithm acquires the high spectrum image of planar array type imaging bloom spectrum sensor acquisition and the full-colour image sensor
The full-colour image carry out real time fusion, generate fusion high-spectral data, to obtain the spectral information of the plant；It utilizes
Sensor scaling parameter obtains the spatial correspondence of the binocular RGB image and the high spectrum image, utilizes the foreign side
Bit element obtains the correspondence of the binocular RGB image and the three dimensional point cloud, and then establishes the three-dimensional point cloud number
According to the correspondence for merging high-spectral data, to the three-dimensional structure information for obtaining the plant and corresponding institute
State spectral information.
Fig. 6 is the method for synchronously measuring schematic diagram of plant three-dimensional structure provided in an embodiment of the present invention and spectral information.Place
After reason center receives the high spectrum image, the full-colour image and the binocular RGB image of harvester transmission, to institute
State the three-dimensional structure that high spectrum image, the full-colour image and the binocular RGB image handle and then obtain the plant
And spectral information.
Processing center calculates the left and right sides image that each RGB camera acquires in real time, and key step includes：It is default
(aerial trigonometric coordinates X, Y, Z and posture-pitching are calculated to, homotopy mapping, three encryption of sky, two RGB camera elements of exterior orientation
Angle, roll angle, angle of drift).Three dimensional point cloud is automatically generated using elements of exterior orientation is calculated, according to the three dimensional point cloud
The three-dimensional structure information of the plant can be obtained.
Planar array type imaging bloom spectrum sensor acquisition observation area Imaging Hyperspectral Data, i.e., the described high spectrum image, entirely
Color image sensor acquires full-color high resolution image simultaneously, i.e., the described full-colour image.Processing center is to the high spectrum image
The two fusion in real time is realized using spatial spectral blending algorithm, generate high-resolution high-spectral data with the full-colour image.Melt
Hop algorithm selects MTF-GLP algorithms, is merged successively with full-colour image data to each wave band of Imaging Hyperspectral Data.
Processing center sets up binocular RGB figures respectively using the resolving parameter etc. of sensor scaling parameter, elements of exterior orientation
The spatial correspondence of picture and the high spectrum image, the correspondence of binocular RGB image and the three dimensional point cloud；Therefore
The correspondence of the three dimensional point cloud and the high spectrum image can be established.Since the fusion high-spectral data is by institute
It states high spectrum image and full-colour image fusion and obtains, therefore, the fusion high-spectral data has with the high spectrum image
There is correspondence.That is, the three dimensional point cloud and the correspondence for merging high-spectral data can be established, to obtain
Take the three-dimensional structure information of the plant and the corresponding spectral information.
On the basis of the above embodiments, the embodiment of the present invention by based on binocular vision three-dimensional structure measurement sensor with
Planar array type imaging bloom spectrum sensor is organically combined, and is differentiated to improve planar array type imaging EO-1 hyperion sensor space
Rate is merged using imaging spectrometer data is carried out spatial spectral with full-colour image sensor gathered data, is finally planted in real time
Object three-dimensional canopy structure information and corresponding high-resolution high-spectral data, three-dimensional canopy structure are corresponded with spectral Dimensions,
It realizes plant canopy three-dimensional structure and spectroscopic simultaneous obtains.
Further, be based on above-described embodiment, the high spectrum image using harvester synchronous acquisition plant it
Before, the method further includes：To planar array type imaging bloom spectrum sensor, the full-colour image sensor and the binocular
RGB camera carries out uniform spaces calibration, centered on the planar array type is imaged bloom spectrum sensor, marks the planar array type respectively
The imaging center position coordinates of bloom spectrum sensor, the full-colour image sensor and the binocular RGB camera are imaged, obtains and passes
Sensor scaling parameter；And the sensor scaling parameter is sent to the processing center.
If the sensor scaling parameter of each sensor of the harvester is unknown, need to utilize calibration before measuring
Device carries out unification to planar array type imaging bloom spectrum sensor, the full-colour image sensor and the binocular RGB camera
Spatial scaled.Centered on the planar array type is imaged bloom spectrum sensor, the planar array type imaging EO-1 hyperion sensing is marked respectively
The imaging center position coordinates of device, the full-colour image sensor and the binocular RGB camera obtain sensor scaling parameter.
Wherein, the sensor scaling parameter is the imaging center position coordinates.Robot scaling equipment is by the sensor scaling parameter
It is sent to the processing center, the processing center is according to the imaging center position coordinates of four sensors, you can obtains them
Between calibration transformational relation.
On the basis of the above embodiments, the embodiment of the present invention to planar array type by being imaged bloom spectrum sensor, full-colour picture
As sensor and the progress uniform spaces calibration of binocular RGB camera, ensure that the mutual space projection of four sensors corresponds, most
The matching of structural information and spectral information is realized eventually.
One of ordinary skill in the art will appreciate that：Realize that all or part of step of above method embodiment can pass through
The relevant hardware of program instruction is completed, and program above-mentioned can be stored in a computer read/write memory medium, the program
When being executed, step including the steps of the foregoing method embodiments is executed；And storage medium above-mentioned includes：ROM, RAM, magnetic disc or light
The various media that can store program code such as disk.
The embodiments such as electronic equipment described above are only schematical, illustrate as separating component wherein described
Unit may or may not be physically separated, and the component shown as unit may or may not be object
Manage unit, you can be located at a place, or may be distributed over multiple network units.It can select according to the actual needs
Some or all of module therein is selected to achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying wound
In the case of the labour for the property made, you can to understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It is realized by the mode of software plus required general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on
Stating technical solution, substantially the part that contributes to existing technology can be expressed in the form of software products in other words, should
Computer software product can store in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD, including several fingers
It enables and using so that an electronic equipment (can be personal computer, server or the network equipment etc.) executes each embodiment
Or the method described in certain parts of embodiment.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, it will be understood by those of ordinary skill in the art that：It still may be used
With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features；
And these modifications or replacements, various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. the synchronized measurement system of a kind of plant three-dimensional structure and spectral information, which is characterized in that including：
Harvester and processing center；
Wherein, the harvester is used for high spectrum image, full-colour image and the binocular RGB image of synchronous acquisition plant, and will
The high spectrum image, the full-colour image and the binocular RGB image are sent to the processing center；
The processing center is used to receive the high spectrum image, the full-colour image and the binocular RGB image, and to described
High spectrum image, the full-colour image and the binocular RGB image handle so that obtain the plant three-dimensional structure and
Spectral information.
2. system according to claim 1, which is characterized in that the harvester is integrated with planar array type imaging EO-1 hyperion and passes
Sensor, full-colour image sensor, binocular RGB camera and microcontroller；
Wherein, the planar array type imaging bloom spectrum sensor is used to acquire the high spectrum image of the default wave band of the plant；
The full-colour image sensor is used to acquire the full-colour image of the plant；
The binocular RGB camera is used to acquire the binocular RGB image of the plant, and the binocular RGB camera is by two same models
RGB camera constitute；
The microcontroller is for being uniformly controlled planar array type imaging bloom spectrum sensor, the full-colour image sensor and described
The time for exposure of binocular RGB camera, and the high spectrum image, the full-colour image and the binocular RGB image are sent to
The processing center.
3. system according to claim 2, which is characterized in that the picture of the full-colour image sensor and the RGB camera
Prime number is identical with imaging rate.
4. system according to claim 3, which is characterized in that the processing center for the high spectrum image,
When the full-colour image and the binocular RGB image handle and then obtain the three-dimensional structure and spectral information of the plant,
It is specifically used for：
The binocular RGB image of RGB camera acquisition is calculated in real time, including interior orientation, homotopy mapping, sky three
The elements of exterior orientation of encryption and the RGB camera calculates, and three dimensional point cloud is generated, to obtain the three-dimensional structure of the plant
Information；
The high spectrum image for being acquired planar array type imaging bloom spectrum sensor using spatial spectral blending algorithm and institute
The full-colour image for stating the acquisition of full-colour image sensor carries out real time fusion, fusion high-spectral data is generated, to obtain
State the spectral information of plant；
The spatial correspondence of the binocular RGB image and the high spectrum image is obtained using sensor scaling parameter, is utilized
The elements of exterior orientation obtains the correspondence of the binocular RGB image and the three dimensional point cloud, and then establishes described three
Tie up point cloud data and the correspondence for merging high-spectral data, to obtain the plant the three-dimensional structure information and
The corresponding spectral information.
5. system according to claim 4, which is characterized in that the system also includes：
Robot scaling equipment, the robot scaling equipment are used for planar array type imaging bloom spectrum sensor, the full-colour image sensor
Uniform spaces calibration is carried out with the binocular RGB camera, centered on the planar array type is imaged bloom spectrum sensor, is marked respectively
The imaging center position of the planar array type imaging bloom spectrum sensor, the full-colour image sensor and the binocular RGB camera
Coordinate obtains sensor scaling parameter；And the sensor scaling parameter is sent to the processing center.
6. the method for synchronously measuring of a kind of plant three-dimensional structure and spectral information, which is characterized in that including：
Using the high spectrum image of harvester synchronous acquisition plant, full-colour image and binocular RGB image, and by the EO-1 hyperion
Image, the full-colour image and the binocular RGB image are sent to processing center；
The processing center receives the high spectrum image, the full-colour image and the binocular RGB image, and to the bloom
Spectrogram picture, the full-colour image and the binocular RGB image handle and then obtain the three-dimensional structure and spectrum of the plant
Information.
7. according to the method described in claim 6, it is characterized in that, the harvester is integrated with planar array type imaging EO-1 hyperion biography
Sensor, full-colour image sensor, binocular RGB camera and microcontroller, the EO-1 hyperion using harvester synchronous acquisition plant
Image, full-colour image and binocular RGB image, and the high spectrum image, the full-colour image and the binocular RGB image are sent out
It send to processing center and specifically includes：
The high spectrum image of the default wave band of the plant is acquired using planar array type imaging bloom spectrum sensor；
The full-colour image of the plant is acquired using full-colour image sensor；
The binocular RGB image of the plant is acquired using binocular RGB camera, the binocular RGB camera is by two RGB with model
Camera is constituted；
It is uniformly controlled the planar array type imaging bloom spectrum sensor, the full-colour image sensor and the binocular using microcontroller
The time for exposure of RGB camera, and the high spectrum image, the full-colour image and the binocular RGB image be sent to described
Processing center.
8. the method according to the description of claim 7 is characterized in that the picture of the full-colour image sensor and the RGB camera
Prime number is identical with imaging rate.
9. according to the method described in claim 8, it is characterized in that, it is described to the high spectrum image, the full-colour image and
The binocular RGB image handle and then obtains the three-dimensional structure of the plant and spectral information specifically includes：
The binocular RGB image of RGB camera acquisition is calculated in real time, including interior orientation, homotopy mapping, sky three
The elements of exterior orientation of encryption and the RGB camera calculates, and three dimensional point cloud is generated, to obtain the three-dimensional structure of the plant
Information；
The high spectrum image for being acquired planar array type imaging bloom spectrum sensor using spatial spectral blending algorithm and institute
The full-colour image for stating the acquisition of full-colour image sensor carries out real time fusion, fusion high-spectral data is generated, to obtain
State the spectral information of plant；
The spatial correspondence of the binocular RGB image and the high spectrum image is obtained using sensor scaling parameter, is utilized
The elements of exterior orientation obtains the correspondence of the binocular RGB image and the three dimensional point cloud, and then establishes described three
Tie up point cloud data and the correspondence for merging high-spectral data, to obtain the plant the three-dimensional structure information and
The corresponding spectral information.
10. according to the method described in claim 9, it is characterized in that, in the height using harvester synchronous acquisition plant
Before spectrum picture, the method further includes：
Unification is carried out to planar array type imaging bloom spectrum sensor, the full-colour image sensor and the binocular RGB camera
Spatial scaled marks the planar array type imaging EO-1 hyperion sensing respectively centered on the planar array type is imaged bloom spectrum sensor
The imaging center position coordinates of device, the full-colour image sensor and the binocular RGB camera obtain sensor scaling parameter；
And the sensor scaling parameter is sent to the processing center.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810073034.1A CN108414454A (en) | 2018-01-25 | 2018-01-25 | The synchronized measurement system and measurement method of a kind of plant three-dimensional structure and spectral information |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810073034.1A CN108414454A (en) | 2018-01-25 | 2018-01-25 | The synchronized measurement system and measurement method of a kind of plant three-dimensional structure and spectral information |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108414454A true CN108414454A (en) | 2018-08-17 |
Family
ID=63126486
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810073034.1A Withdrawn CN108414454A (en) | 2018-01-25 | 2018-01-25 | The synchronized measurement system and measurement method of a kind of plant three-dimensional structure and spectral information |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108414454A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108935413A (en) * | 2018-08-24 | 2018-12-07 | 浙江大学 | A kind of device and method that the blade face medicine based on plant space prescription map sprays |
| CN109697410A (en) * | 2018-11-30 | 2019-04-30 | 中国电力科学研究院有限公司 | A kind of remote sensing Objects recognition method of overhead transmission line covering area |
| CN112097679A (en) * | 2020-09-10 | 2020-12-18 | 厦门海铂特生物科技有限公司 | Three-dimensional space measuring method based on optical information |
| CN112212801A (en) * | 2020-09-30 | 2021-01-12 | 水利部牧区水利科学研究所 | Sand stabilization shrub configuration data processing system |
| CN112702565A (en) * | 2020-12-03 | 2021-04-23 | 浙江大学 | System and method for acquiring field plant phenotype information |
| CN113175956A (en) * | 2021-05-13 | 2021-07-27 | 杭州电子科技大学 | Multispectral and optical camera sensor device for monitoring crop growth |
| CN113447486A (en) * | 2020-03-27 | 2021-09-28 | 长江勘测规划设计研究有限责任公司 | Binocular and infrared combined diagnosis system and method for diseases of unmanned aerial vehicle-mounted linear engineering |
| CN113674402A (en) * | 2021-08-23 | 2021-11-19 | 浙江大学 | Plant three-dimensional hyperspectral point cloud model generation method, correction method and device |
| WO2022141193A1 (en) * | 2020-12-30 | 2022-07-07 | 广东视场科技有限公司 | Crop multispectral collection and analysis system based on unmanned vehicle platform |
| CN116772731A (en) * | 2023-06-21 | 2023-09-19 | 华中农业大学 | Mushroom fruiting body high-throughput phenotype and quality detection device |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003294424A (en) * | 2002-03-29 | 2003-10-15 | Kagoshima Prefecture | Measuring instrument for three-dimensional shape and measuring method using the same |
| CN101216557A (en) * | 2007-12-27 | 2008-07-09 | 复旦大学 | Residual hypercomplex number dual decomposition multi-light spectrum and full-color image fusion method |
| CN102446351A (en) * | 2010-10-15 | 2012-05-09 | 江南大学 | Multispectral and high-resolution full-color image fusion method study |
| CN103218796A (en) * | 2013-05-14 | 2013-07-24 | 中国科学院自动化研究所 | Fusion method of full color-multispectral remote sensing images |
| CN103868500A (en) * | 2014-03-21 | 2014-06-18 | 无锡市星迪仪器有限公司 | Spectral three-dimensional imaging system and method |
| CN104933708A (en) * | 2015-06-07 | 2015-09-23 | 浙江大学 | Barrier detection method in vegetation environment based on multispectral and 3D feature fusion |
| CN105675549A (en) * | 2016-01-11 | 2016-06-15 | 武汉大学 | Portable crop parameter measurement and growth vigor intelligent analysis device and method |
| CN106539561A (en) * | 2016-12-09 | 2017-03-29 | 中国科学院西安光学精密机械研究所 | Lung bullae rupture position positioning device |
| CN107133976A (en) * | 2017-04-24 | 2017-09-05 | 浙江大学 | A kind of method and apparatus for obtaining three-dimensional hyperspectral information |
| CN107192678A (en) * | 2017-06-06 | 2017-09-22 | 浙江大学 | A kind of self-propelled low-altitude remote sensing device based on multisensor imaging spectral |
-
2018
- 2018-01-25 CN CN201810073034.1A patent/CN108414454A/en not_active Withdrawn
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003294424A (en) * | 2002-03-29 | 2003-10-15 | Kagoshima Prefecture | Measuring instrument for three-dimensional shape and measuring method using the same |
| CN101216557A (en) * | 2007-12-27 | 2008-07-09 | 复旦大学 | Residual hypercomplex number dual decomposition multi-light spectrum and full-color image fusion method |
| CN102446351A (en) * | 2010-10-15 | 2012-05-09 | 江南大学 | Multispectral and high-resolution full-color image fusion method study |
| CN103218796A (en) * | 2013-05-14 | 2013-07-24 | 中国科学院自动化研究所 | Fusion method of full color-multispectral remote sensing images |
| CN103868500A (en) * | 2014-03-21 | 2014-06-18 | 无锡市星迪仪器有限公司 | Spectral three-dimensional imaging system and method |
| CN104933708A (en) * | 2015-06-07 | 2015-09-23 | 浙江大学 | Barrier detection method in vegetation environment based on multispectral and 3D feature fusion |
| CN105675549A (en) * | 2016-01-11 | 2016-06-15 | 武汉大学 | Portable crop parameter measurement and growth vigor intelligent analysis device and method |
| CN106539561A (en) * | 2016-12-09 | 2017-03-29 | 中国科学院西安光学精密机械研究所 | Lung bullae rupture position positioning device |
| CN107133976A (en) * | 2017-04-24 | 2017-09-05 | 浙江大学 | A kind of method and apparatus for obtaining three-dimensional hyperspectral information |
| CN107192678A (en) * | 2017-06-06 | 2017-09-22 | 浙江大学 | A kind of self-propelled low-altitude remote sensing device based on multisensor imaging spectral |
Non-Patent Citations (3)
| Title |
|---|
| 许子乾等: "集成高分辨率UAV影像与激光雷达点云的亚热带森林林分特征反演", 《植物生态学报》 * |
| 赵晓庆等: "基于无人机载高光谱空间尺度优化的大豆育种产量估算", 《农业工程学报》 * |
| 陶浩然等: "近景摄影测量提高裸露地表粗糙度测量精度", 《农业工程学报》 * |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108935413A (en) * | 2018-08-24 | 2018-12-07 | 浙江大学 | A kind of device and method that the blade face medicine based on plant space prescription map sprays |
| CN108935413B (en) * | 2018-08-24 | 2023-08-11 | 浙江大学 | Foliage medicine spraying device and method based on plant space prescription diagram |
| CN109697410A (en) * | 2018-11-30 | 2019-04-30 | 中国电力科学研究院有限公司 | A kind of remote sensing Objects recognition method of overhead transmission line covering area |
| CN113447486B (en) * | 2020-03-27 | 2023-05-23 | 长江勘测规划设计研究有限责任公司 | Binocular and infrared combined diagnosis system and method for unmanned aerial vehicle-mounted linear engineering diseases |
| CN113447486A (en) * | 2020-03-27 | 2021-09-28 | 长江勘测规划设计研究有限责任公司 | Binocular and infrared combined diagnosis system and method for diseases of unmanned aerial vehicle-mounted linear engineering |
| CN112097679B (en) * | 2020-09-10 | 2022-04-19 | 厦门海铂特生物科技有限公司 | Three-dimensional space measuring method based on optical information |
| CN112097679A (en) * | 2020-09-10 | 2020-12-18 | 厦门海铂特生物科技有限公司 | Three-dimensional space measuring method based on optical information |
| CN112212801A (en) * | 2020-09-30 | 2021-01-12 | 水利部牧区水利科学研究所 | Sand stabilization shrub configuration data processing system |
| CN112212801B (en) * | 2020-09-30 | 2022-05-06 | 内蒙古师范大学 | Sand stabilization shrub configuration data processing system |
| CN112702565A (en) * | 2020-12-03 | 2021-04-23 | 浙江大学 | System and method for acquiring field plant phenotype information |
| WO2022141193A1 (en) * | 2020-12-30 | 2022-07-07 | 广东视场科技有限公司 | Crop multispectral collection and analysis system based on unmanned vehicle platform |
| CN113175956A (en) * | 2021-05-13 | 2021-07-27 | 杭州电子科技大学 | Multispectral and optical camera sensor device for monitoring crop growth |
| CN113674402A (en) * | 2021-08-23 | 2021-11-19 | 浙江大学 | Plant three-dimensional hyperspectral point cloud model generation method, correction method and device |
| CN113674402B (en) * | 2021-08-23 | 2023-10-31 | 浙江大学 | Plant three-dimensional hyperspectral point cloud model generation method, correction method and device thereof |
| CN116772731A (en) * | 2023-06-21 | 2023-09-19 | 华中农业大学 | Mushroom fruiting body high-throughput phenotype and quality detection device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108414454A (en) | The synchronized measurement system and measurement method of a kind of plant three-dimensional structure and spectral information | |
| Liu et al. | Estimating leaf area index using unmanned aerial vehicle data: shallow vs. deep machine learning algorithms | |
| Aasen et al. | Generating 3D hyperspectral information with lightweight UAV snapshot cameras for vegetation monitoring: From camera calibration to quality assurance | |
| CN105675549B (en) | A kind of Portable rural crop parameter measurement and growing way intellectual analysis device and method | |
| Gini et al. | Aerial images from an UAV system: 3D modeling and tree species classification in a park area | |
| Kalisperakis et al. | Leaf area index estimation in vineyards from UAV hyperspectral data, 2D image mosaics and 3D canopy surface models | |
| Yang | A high-resolution airborne four-camera imaging system for agricultural remote sensing | |
| CN111553245A (en) | Vegetation classification method based on machine learning algorithm and multi-source remote sensing data fusion | |
| NO337638B1 (en) | Method for determining file attributes and computer program for executing the method | |
| US11769225B2 (en) | Image processing apparatus, image processing method, and program | |
| Ahamed et al. | Tower remote-sensing system for monitoring energy crops; image acquisition and geometric corrections | |
| CN108474661A (en) | The method and system that geometric parameters for multispectral data are shone | |
| US11800246B2 (en) | Systems and methods for multispectral landscape mapping | |
| Gu et al. | UAV-based integrated multispectral-LiDAR imaging system and data processing | |
| CN104732557A (en) | Color point cloud generating method of ground laser scanner | |
| Szabó et al. | Zooming on aerial survey | |
| KR102479284B1 (en) | Vegetation index acquisition unit and apparatus for monitoring plant comprising the same | |
| Mancini et al. | A multi/hyper-spectral imaging system for land use/land cover using unmanned aerial systems | |
| Grenzdörffer | Automatic generation of geometric parameters of individual cauliflower plants for rapid phenotyping using drone images | |
| Livens et al. | A spatio-spectral camera for high resolution hyperspectral imaging | |
| CN109840920A (en) | It takes photo by plane object space information method for registering and aircraft spatial information display methods | |
| Markelin et al. | Methodology for direct reflectance measurement from a drone: System description, radiometric calibration and latest results | |
| Berveglieri et al. | Bundle adjustment of a time-sequential spectral camera using polynomial models | |
| Haavardsholm et al. | Multimodal Multispectral Imaging System for Small UAVs | |
| Markelin et al. | Geometric processing workflow for vertical and oblique hyperspectral frame images collected using UAV |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180817 |