基于计算机视觉的立木树干曲率自动测量方法

树干曲率的自动测量是智能立木整枝机作业的重要步骤.该文针对立木图像的特点，提出了一种基于计算机视觉的立木树干曲率自动测量方法.该方法包含4个主要步骤:利用阈值分割对树干图像进行提取，得到图像的粗分割；在中值滤波的基础上，利用拉普拉斯算子对图像进行边缘位置点的检测，从而得到准确而连续的边缘；利用数学形态学方法对树干边缘进行细化处理；以道格拉斯-普克法提取树干曲线上的特征点，对其进行曲线拟合并求得树干曲率.实验结果表明，该方法能比较准确地识别树干的弯曲度. 

An automatic measuring method for the trunk curvature of standing tree based on computer vision

For the automatic pruning of the standing trees by pruning robot,the automatic measuring of trunk curvature of standing tree is a key step.According to the characteristics of digital image of standing tree,this paper puts forward a computer vision-based automatic measuring method for trunk curvature of standing tree.The method includes four steps: the tree trunk image is detected by threshold segmentation;the edge of tree trunk is detected by Laplacian operator based on the tree trunk image filtered by median filtering method;the edge image of tree trunk is thinned based on the mathematical morphology;the last step is to fit the curve and compute the tree trunk curvature automatically.The experimental results indicate that the method is available for getting accurate tree trunk curvature.