Research On New Slightly 3D Reconstruction Method Of Tea Tree Based On Binocular Vision

Tea tree is an important economic plant in China,and the buds and young leaves of tea tree are picked from the new canopy of tea tree and processed through several different processes to make different types of tea leaves,so the growth of the new canopy of tea tree directly affects the quality of tea leaves after processing.The 3D model of new canopy of tea tree established by plant visualization technology can reflect the morphological structure and phenotypic characteristics of the new canopy of tea tree,which is an effective method to study the new canopy of tea tree.The construction of a 3D model of the new canopy of tea trees can not only be used to improve the canopy structure of tea trees,but also provide simulation models for tea harvesting and pruning machinery,which has a broad application prospect.In view of the lack of tea tree canopy model in tea picking mechanical simulation and canopy structure analysis,this paper uses the3 D reconstruction technology based on binocular stereo sight to reconstruct the new tea tree in 3D,mainly for the construction of binocular system,camera calibration,The research on four aspects of tea space point reconstruction and model reconstruction,the main contents are as follows:(1)To clarify the requirements for the construction of binocular stereo vision platform,to study the four imaging coordinate systems of binocular vision system,to analyze in detail the 3D reconstruction principles of parallel and convergent models for the two geometric models of binocular vision system,and to complete the acquisition of tea tree images using the binocular vision system built based on the experimental requirements.(2)For the camera calibration test of binocular camera,the imaging geometric models of linear and nonlinear cameras are studied,and the advantages and disadvantages of five different camera calibration methods such as traditional 3D calibration method,Zhang Zhengyou calibration method and self-calibration method are compared and analyzed,and the principle of Zhang Zhengyou calibration method is analyzed in detail.According to the calibration steps and required equipment of the Zhang Zhengyou calibration method,a 9×12checkerboard grid image is printed,and the calibration test of the binocular camera is completed by using the stereo Camera Calibrator binocular camera calibration module in MATLAB R2021 b.The calibration error is controlled to be 0.32 pixels,and the relative positions and internal and external parameters of the two cameras are obtained.(3)To study the classification of image matching algorithms for the reconstruction of the tea-slightly spatial points,and elaborate the advantages and disadvantages of each algorithm.The SGM semi-global algorithm is used for stereo matching of the tea slightly image,and the global matching of the basic feature regions of the tea slightly image is completed.The reconstruction of the spatial points of the tea slightly was compared with the actual measured values,and the reconstruction error of the height of the tea slightly was 1.93%,the reconstruction error of the width was 0.45%,and the average relative error between the calculated and measured values of the depth was 1.39%,which satisfied the basic requirements of the 3D reconstruction of the spatial points of the tea slightly.(4)For the construction of the tea slightly 3D model,the triangulation principle of point cloud triangulation is analyzed,and the two main algorithms of Delaunay triangulation Lawson and BowyerWatson are elaborated.Based on the point cloud triangulation principle of Open GL,the reconstruction of the tea tree 3D model is completed,and the comparison between the reconstruction result and the original image shows that the reconstructed model is better.The curve fitting of the tea tree canopy was done according to the data measured in the field,and the stitching of the tea tree canopy was completed using 3ds MAX software to compare with the actual tea tree canopy,and the curve fitting of the stitched tea tree canopy model conformed to the shape pattern of the tea tree canopy.The success of the 3D reconstruction of the tea slightly spatial points and the construction of the 3D model fully verified the feasibility and effectiveness of the method of this paper for the 3D reconstruction of the tea tree canopy,thus providing a model basis for the simulation research of the tea picking machinery,the improvement of the canopy structure and the training of the picking and pruning technology.