CN108571931A - It is a kind of using TOF depth cameras as the tree survey method of tool - Google Patents
It is a kind of using TOF depth cameras as the tree survey method of tool Download PDFInfo
- Publication number
- CN108571931A CN108571931A CN201810486544.1A CN201810486544A CN108571931A CN 108571931 A CN108571931 A CN 108571931A CN 201810486544 A CN201810486544 A CN 201810486544A CN 108571931 A CN108571931 A CN 108571931A
- Authority
- CN
- China
- Prior art keywords
- tree
- trees
- ground
- diameter
- photo
- 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.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/08—Measuring arrangements characterised by the use of optical techniques for measuring diameters
Abstract
The invention discloses a kind of using TOF depth cameras as the tree survey method of tool.This method shoots photo using TOF depth cameras to trees, using the tree breast-height diameter measured on photo and set high pixel value size, and the range information (range information is the distance for shooting object to camera focal plane) of each pixel of depth camera record, the practical diameter of a cross-section of a tree trunk 1.3 meters above the ground of trees is calculated by the triangle cosine law and sets high size.
Description
One, technical field
The present invention relates to a kind of using TOF depth cameras as the tree survey method of tool.
Two, technical background
In traditional forest survey, the diameter of a cross-section of a tree trunk 1.3 meters above the ground and the most basic factor that tree height is that standing tree measures may be used also by setting height and the diameter of a cross-section of a tree trunk 1.3 meters above the ground
Calculate standing volume, site index, the indexs such as estimation forest reserves, biomass, organic C storage, to evaluate site quality and woods
The wooden upgrowth situation.In forestry forest inventory investigation traditional mode measure the diameter of a cross-section of a tree trunk 1.3 meters above the ground mainly using the diameter of a cross-section of a tree trunk 1.3 meters above the ground enclose ruler, measure tree height then make
With height finder, this requires that survey crew will stand and carries out contact hand dipping on tested standing tree side, and measurement accuracy is relatively low.Closely
The non-cpntact measurements tools such as assize rifle, the ultrasonic wave dendrometer used over year are only capable of measuring the diameter of a cross-section of a tree trunk 1.3 meters above the ground and set high numerical value, Bu Nengji
Arboreal growth state is recorded, dynamic monitoring and the land parcel change trace of arboreal growth amount are unfavorable for.
Three, invention content
In order to which the diameter of a cross-section of a tree trunk 1.3 meters above the ground of high-acruracy survey forest, tree are high, while the growth conditions of trees are recorded, the present invention proposes that one kind makes
The method for recording arboreal growth state with TOF depth cameras, and measuring the standing tree factors such as tree height, the diameter of a cross-section of a tree trunk 1.3 meters above the ground.It is characterized in that：It utilizes
TOF depth cameras shoot photo to trees, record the growthform of trees, using the tree breast-height diameter measured on photo and set high
(range information is that shooting object is burnt to camera to the range information of pixel value size and each pixel of depth camera record
The distance of plane), the practical diameter of a cross-section of a tree trunk 1.3 meters above the ground of trees is calculated by the triangle cosine law and sets high size.
Beneficial effects of the present invention are：TOF depth cameras are introduced forest and measured by the present invention, using photogrammetric non-contact
The advantages of operation, can also calculate the diameter of a cross-section of a tree trunk 1.3 meters above the ground of trees and set high factors of enumeration while recording trees form.TOF camera is small and exquisite,
Light, easy to operate, computational methods are simply easily grasped, and a kind of portable, easy-to-use, efficient solution can be provided for forest survey.
Four, it illustrates
The present invention is further described with example below in conjunction with the accompanying drawings.
Fig. 1 is image pickup method schematic diagram
Fig. 2 is that tree height projects signal in camera focal plane
Fig. 3 is the high position in photo coordinate system of tree
Fig. 4 is that diameter of a cross-section of a tree trunk 1.3 meters above the ground height calculates schematic diagram
Fig. 5 is position of the diameter of a cross-section of a tree trunk 1.3 meters above the ground in photo coordinate system
Five, specific implementation mode：
(1) TOF depth cameras are directed at the trees to be measured, keep primary optical axis parallel to the ground as possible, by adjusting focal length
With shooting distance make trees can in single photo complete documentation, the focal length f (Fig. 1) of camera when writing down shooting；
(2) it is as shown in Figure 2 and Figure 3 that high computational methods are set,
According to the cosine law:
Wherein T is by the vertex of assize, and E is by the ground point of assize, and the projection in depth camera focal plane is respectively
T, e, xt、ytAnd xe、yeThe respectively coordinate of t, e under photo coordinate system, S are imaging center point, and s is S on focal plane
Projection, f are the focal length of camera.
Equally, it can be found out by following formula according to the high ET of cosine law trees：
Wherein, ST is that the T of depth camera record arrives the distance of camera focal plane, and SE is the T that records of depth camera to camera
The distance of focal plane.
(3) when measuring the diameter of a cross-section of a tree trunk 1.3 meters above the ground, the high 1.3 meters of corresponding height and positions of phase on piece tree first to be found.Due to camera primary optical axis with
Ground is parallel, as shown in figure 4, being calculated by the following formula 1.3 meters of diameters of a cross-section of a tree trunk 1.3 meters above the ground in photograph plane coordinates by similar triangle theory
The height coordinate of system：
The coordinate y of trees bottom end Ee+ ed is the height and position of the diameter of a cross-section of a tree trunk 1.3 meters above the ground at 1.3 meters, with (0, ye+ ed) centered on, draw one
It is parallel to the horizontal line of photo coordinate system x-axis, two point L, R that horizontal line intersects with trunk, the length for calculating LR is the diameter of a cross-section of a tree trunk 1.3 meters above the ground
(Fig. 5), calculation is high similar with tree, and this will not be repeated here.
Place is not described in detail by the present invention, is the known technology of those skilled in the art of the present technique.
Claims (1)
1. a kind of method measuring the standing tree factors such as tree height, the diameter of a cross-section of a tree trunk 1.3 meters above the ground using TOF depth cameras；It is characterized in that：Utilize TOF depth phases
Machine shoots photo to trees, is remembered using the tree breast-height diameter of the measurement on photo and tree high pixel value size and depth camera
The range information (range information is the distance for shooting object to camera focal plane) of each pixel of record, passes through triangle cosine
Theorem calculates the practical diameter of a cross-section of a tree trunk 1.3 meters above the ground of trees and sets high size；
It is as follows：
(1) TOF depth cameras are directed at the trees to be measured, keep primary optical axis parallel to the ground as possible, by adjusting shooting distance
Make trees can in single photo complete documentation；
(2) it is measured in photo by the vertex of assize and by the ground point of assize, the camera focal plane measured according to depth camera
To the distance of trees, trees height is acquired using the cosine law；
(3) when measuring the diameter of a cross-section of a tree trunk 1.3 meters above the ground, first amount calculates the high 1.3 meters of corresponding height and positions of phase on piece tree, measures diameter of a cross-section of a tree trunk 1.3 meters above the ground edge in photo
2 positions, also according to depth camera measure camera focal plane to the distance of trees, acquire trees chest using the cosine law
Diameter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810486544.1A CN108571931A (en) | 2018-05-17 | 2018-05-17 | It is a kind of using TOF depth cameras as the tree survey method of tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810486544.1A CN108571931A (en) | 2018-05-17 | 2018-05-17 | It is a kind of using TOF depth cameras as the tree survey method of tool |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108571931A true CN108571931A (en) | 2018-09-25 |
Family
ID=63572051
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810486544.1A Pending CN108571931A (en) | 2018-05-17 | 2018-05-17 | It is a kind of using TOF depth cameras as the tree survey method of tool |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108571931A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109990721A (en) * | 2019-04-10 | 2019-07-09 | 广东工业大学 | A kind of tree diameters automatic measurement system and measurement method based on line-structured light |
| CN110057291A (en) * | 2019-05-26 | 2019-07-26 | 苏州大学 | The tall delivery receiving acceptance method for filling plant specification in landscape engineering |
| CN110672020A (en) * | 2019-06-14 | 2020-01-10 | 浙江农林大学 | Stand tree height measuring method based on monocular vision |
| CN111336933A (en) * | 2019-07-03 | 2020-06-26 | 广东森霖造绿有限公司 | Tree detection method using unmanned aerial vehicle shooting |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102252653A (en) * | 2011-06-27 | 2011-11-23 | 合肥工业大学 | Position and attitude measurement method based on time of flight (TOF) scanning-free three-dimensional imaging |
| CN102927921A (en) * | 2012-11-13 | 2013-02-13 | 北京林业大学 | Stumpage breast height diameter measuring method based on optics similar triangle method |
| CN103148786A (en) * | 2013-01-15 | 2013-06-12 | 南京林业大学 | Device and method for height measurement of object |
| CN104567691A (en) * | 2014-12-25 | 2015-04-29 | 北京林业大学 | Method for directly determining stand volume with mobile phone |
| CN105066877A (en) * | 2015-07-16 | 2015-11-18 | 北京工业大学 | Tree measuring method based on intelligent terminal lens |
| CN106683070A (en) * | 2015-11-04 | 2017-05-17 | 杭州海康威视数字技术股份有限公司 | Body height measurement method and body height measurement device based on depth camera |
| CN107111602A (en) * | 2014-08-13 | 2017-08-29 | C 3 有限公司 | Log scanning system |
| CN107515403A (en) * | 2017-08-21 | 2017-12-26 | 东莞市迈科新能源有限公司 | A kind of TOF three-dimensionals distance measuring sensor |
-
2018
- 2018-05-17 CN CN201810486544.1A patent/CN108571931A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102252653A (en) * | 2011-06-27 | 2011-11-23 | 合肥工业大学 | Position and attitude measurement method based on time of flight (TOF) scanning-free three-dimensional imaging |
| CN102927921A (en) * | 2012-11-13 | 2013-02-13 | 北京林业大学 | Stumpage breast height diameter measuring method based on optics similar triangle method |
| CN103148786A (en) * | 2013-01-15 | 2013-06-12 | 南京林业大学 | Device and method for height measurement of object |
| CN107111602A (en) * | 2014-08-13 | 2017-08-29 | C 3 有限公司 | Log scanning system |
| CN104567691A (en) * | 2014-12-25 | 2015-04-29 | 北京林业大学 | Method for directly determining stand volume with mobile phone |
| CN105066877A (en) * | 2015-07-16 | 2015-11-18 | 北京工业大学 | Tree measuring method based on intelligent terminal lens |
| CN106683070A (en) * | 2015-11-04 | 2017-05-17 | 杭州海康威视数字技术股份有限公司 | Body height measurement method and body height measurement device based on depth camera |
| CN107515403A (en) * | 2017-08-21 | 2017-12-26 | 东莞市迈科新能源有限公司 | A kind of TOF three-dimensionals distance measuring sensor |
Non-Patent Citations (1)
| Title |
|---|
| 张旭东等: "基于TOF三维相机相邻散乱点云配准技术研究", 《机械工程学报》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109990721A (en) * | 2019-04-10 | 2019-07-09 | 广东工业大学 | A kind of tree diameters automatic measurement system and measurement method based on line-structured light |
| CN110057291A (en) * | 2019-05-26 | 2019-07-26 | 苏州大学 | The tall delivery receiving acceptance method for filling plant specification in landscape engineering |
| CN110672020A (en) * | 2019-06-14 | 2020-01-10 | 浙江农林大学 | Stand tree height measuring method based on monocular vision |
| CN111336933A (en) * | 2019-07-03 | 2020-06-26 | 广东森霖造绿有限公司 | Tree detection method using unmanned aerial vehicle shooting |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108571931A (en) | It is a kind of using TOF depth cameras as the tree survey method of tool | |
| CN105066877B (en) | Tree measurement method based on intelligent terminal camera lens | |
| CN104482860B (en) | Fish morphological parameters self-operated measuring unit and method | |
| CN102095383B (en) | Quick tree-walk detection device based on machine vision | |
| CN110672020A (en) | Stand tree height measuring method based on monocular vision | |
| CN102589437A (en) | Calibration method for measuring head center position in light pen-type portable three-coordinate measuring system | |
| CN1279328C (en) | Video super-station instrument and forest measuring method | |
| CN103196382A (en) | Standing-tree diameter measuring device based on laser ranging and image technologies | |
| CN102749052A (en) | Electronic tree measurement gun and forest measurement method thereof | |
| CN101021416A (en) | Method for measuring tree height by total station instrument | |
| CN102589455A (en) | Standing wood diameter detection device based on laser and visual technology | |
| CN104089607A (en) | Normal case photography forest metrology method through common digital camera | |
| CN110411360A (en) | A kind of smart phone surveys tree device and its tree survey method | |
| CN105136107B (en) | The measuring method and measuring system of a kind of target location, tree height and diameter | |
| CN104613940A (en) | Scheme for photographing and measuring forest permanent sample plot | |
| CN104897059B (en) | A kind of irregular stacking body volume measuring method of pocket | |
| CN104236529A (en) | Minitype forest observation photography super-station instrument and measuring method thereof | |
| CN103591889A (en) | Stereoscopic image total station and calculating and measuring method thereof | |
| CN103267516A (en) | Sample plot measuring technology by using digital camera as tool | |
| CN204286385U (en) | A kind of portable arbor height of tree and relative coordinate measuring instrument thereof | |
| Liyan et al. | Method of measuring tree height and volume based on CCD SmartStation | |
| CN204214373U (en) | A kind ofly be applicable to measure in corn seed investigating process spike length and the thick device of fringe | |
| CN2740999Y (en) | Video measuring instrument | |
| CN206556590U (en) | A kind of mobile device range unit based on laser projection technology | |
| CN109764861A (en) | A kind of portable super-station instrument measures the technical method of object height and width |
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 | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180925 |