番茄非接触式单果质量估测方法
Non-contact Weight Estimation Method of Single Tomato Fruit
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摘要: 针对目前非离株番茄果实的非接触式单果质量快速估测困难等问题,提出了一种基于局部点云和卷积神经网络的番茄单果质量估测方法。以浙粉702番茄为试验对象,首先通过深度相机采集50个番茄单果的336块原始点云,并增强至1 344块点云用于构建数据集。通过多种点云分割方法比较,选取三维连续卷积神经网络用于番茄单果分割。于分割后的数据提取点云沿x轴轴向尺寸dx、沿y轴轴向尺寸dy、沿z轴轴向尺寸dz和沿z轴投影最小外接圆直径d共4个空间特征信息,并将其馈送到3层回归网络中,用于训练、确定优化器和学习率达到最优状况下的单果质量估测模型。最后,选取268块增强点云对构建的数学模型进行测试,并进行模型准确性和稳定性评估分析。结果表明,与番茄单果实际质量相比,平均偏差3.7~4.8 g,平均相对误差约3.04%,优于传统图像处理方法。该研究可为其他农畜产品的非接触式单果质量估测提供技术参考。Abstract: Aiming at current difficulties in non-contact fast estimation of the weight of non-detached tomato fruits,a method for estimation of tomato fruit weight based on local point cloud and convolutional neural network was proposed.Taking ZheFen 702 tomato as experimental object,firstly,336 original point clouds of 50 single tomato fruits were collected by a depth camera,and then enhanced to 1 344 point clouds for constructing a data set.A variety of point cloud segmentation methods were compared and selected,three-dimensional continuous convolutional neural network was used for tomato single fruit segmentation.Based on segmented data,a total of 4 spatial feature information point cloud were extracted,which were axial size dx along x axis,axial size dy along y axis,a axial size dz along z axis and minimum circumscribed circle diameter d along z axis projection.They were fed to three-layer regression network for training,determining optimizer and weight estimation model when learning rate reached optimal condition.Finally,268 enhancements point cloud were selected to test constructed mathematical model,evaluate and analyze accuracy and stability of the model.Results showed that compared with actual weight of a single tomato,average deviation was 3.7~4.8 g,and average relative error was about 3.04%,which was better than traditional image processing methods.This research could provide technical reference for non-contact weight estimation of other agricultural and livestock products.
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Keywords:
- tomato /
- partial point cloud /
- deep learning /
- non-contact /
- weight estimation
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