Dairy cow body surface point cloud three-dimensional reconstruction method under shielding condition

• Main Authors: WANG KEJIAN, HAN XIANZHONG, CHU MENGYUAN, SI YONGSHENG
• Format: Patent
• Language: Chinese; English
• Published: 22.01.2021
• Subjects: CALCULATING; COMPUTING; COUNTING; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; PHYSICS

The invention discloses a dairy cow body surface point cloud three-dimensional reconstruction method under a shielding condition, and the method comprises the steps: converting depth images of two visual angles of a pitching side into point cloud data, segmenting a dairy cow trunk part in side viewpoint cloud, detecting a missing region of the dairy cow trunk part in the dairy cow side viewpoint cloud, and complementing the missing area through the change of the horizontal position of a dairy cow in a side view image; aligning the overlooking view angle frame with the side-looking view angle frame by using a method that the reference position is abnormal for the first time; and splicing and registering the synchronized overlooking point cloud and the completed side viewpoint cloud, determining a symmetric plane by detecting the position of the back spine of the dairy cow in the overlooking point cloud, and performing mirror symmetry on the single-viewing-angle side viewpoint cloud by using the symmetric plane