A Study on the 3D Reconstruction Strategy of a Sheep Body Based on a Kinect v2 Depth Camera Array

Abstract

Non-contact measurement based on the 3D reconstruction of sheep bodies can alleviate the stress response in sheep during manual measurement of body dimensions. However, data collection is easily affected by environmental factors and noise, which is not conducive to practical production needs. To address this issue, this study proposes a non-contact data acquisition system and a 3D point cloud reconstruction method for sheep bodies. The collected sheep body data can provide reference data for sheep breeding and fattening. The acquisition system consists of a Kinect v2 depth camera group, a sheep passage, and a restraining pen, synchronously collecting data from three perspectives. The 3D point cloud reconstruction method for sheep bodies is implemented based on C++ language and the Point Cloud Library (PCL). It processes noise through pass-through filtering, statistical filtering, and random sample consensus (RANSAC). A conditional voxel filtering box is proposed to downsample and simplify the point cloud data. Combined with the RANSAC and Iterative Closest Point (ICP) algorithms, coarse and fine registration are performed to improve registration accuracy and robustness, achieving 3D reconstruction of sheep bodies. In the base, 135 sets of point cloud data were collected from 20 sheep. After 3D reconstruction, the reconstruction error of body length compared to the actual values was 0.79%, indicating that this method can provide reliable reference data for 3D point cloud reconstruction research of sheep bodies.