Research on Crop 3D Model Reconstruction Based on RGB-D Binocular Vision

Abstract

Taking maize seedlings as the object, the implementation of crops 3D reconstruction based on RGB-D binocular vision and the selection of some key parameters are investigated in this research. First, multiple images are taken from different angles around the target. By mapping the maize seedling region coordinate values after the Otsu algorithm and global threshold segmentation to the corresponding depth image, the depth data of the maize seedling region can be obtained accurately. An improved mean filter is proposed to adaptively fill the holes in the depth image. Then, the different point clouds with the fixed step angle of the maize seedling are registered and fuzed. Finally, after the fusion point cloud is simplified, the 3D model of crops can be reconstructed. Experimental results show that the simplification effect of the octree algorithm is better than that of the voxel grid filter. Among all the step angles, the reconstruction error of the step angle with 60° is the smallest. Under this condition, the height error between the model and the maize seedling is 2.22%, and the error in stem diameter is 11.67%.