面向点云分割的切距自适应猪各部位体积计算方法

A calculation method for the volume of each part of pigs with adaptive cutting distance in point cloud segmentation

  • 摘要: 【目的】 构建适用于猪体点云分割的自适应切距切片体积计算方法,为高效获取猪新型表型组信息提供技术支持。【方法】 采用点云分割技术对猪体点云进行分割,划分出头部、躯干、四肢等8个主要部位,根据各部位不同几何形状及密度提出切距自适应算法,通过计算点云分布均匀性、密度均匀性和网格体积自适应调整切距参数,并选择最适合的切割方向采用切片法估算体积及各部位体积的占比情况。为验证算法的准确性,分别以标准形状点云(圆柱、正方体、圆球)、斯坦福Bunny兔子模型及排水法获得体积的模型小猪进行测试,并通过与真实体积对比评估算法精度。【结果】 自适应切距算法在标准几何体与复杂形状模型上均表现出高精度及良好适应性,在不同密度下表现出更高的精确性和鲁棒性。采用先分割后计算体积的方法估算出模型小猪体积为4379.658 cm3,与实际测量得到的体积绝对误差为157.642 cm3,相对误差为3.47%。将371个猪体点云样本数据划分为222个训练样本和149个测试样本,基于体积构建体重预估模型,体积与体重的相关系数(r)为0.952,表明猪体点云体积计算结果与猪体真实体重存在极强的正相关,体重估计值的绝对误差和相对误差分别为3.244 kg和2.91%。全部猪体点云计算各部位体积及其占比情况显示,头部体积平均占比为6.49%,四肢体积平均占比为10.32%,躯干体积平均占比为83.04%。【结论】 基于自适应切距的切片体积计算方法适用于猪体分割点云体积计算,在不同密度和复杂几何形状的点云体积计算中表现出明显优势,有效解决传统固定切片法无法适应点云密度不均匀且体积连续变化的问题,即通过测量不同部位体积,可估算出猪体各部位比例,为肉密度评估、量化育种及获取猪新型表型组信息提供技术支持。

     

    Abstract: 【Objective】 To develop an adaptive slicing method for point cloud volume estimation tailored to pig body segmentation,which could provide technical support for the efficient acquisition of novel pig phenotypic information. 【Method】 A point cloud segmentation technique was employed to divide the pig body into 8 major parts,including the head,torso,and limbs. An adaptive slice distance algorithm was proposed based on the geometric characteristics and point density of each part. The slice distance parameters were adaptively adjusted by calculating the uniformity of point cloud distribution,density uniformity and mesh volume,and the most suitable cutting direction to calculate the volume and the proportion of each part’s volume was selected by using the slicing method. To verify the accuracy of the algorithm,tests were conducted respectively with standard-shaped point clouds(cylinders,cubes,spheres),the Stanford Bunny rabbit model,and the model pig with the volume obtained by the water displacement method. The accuracy of the algorithm was evaluated by comparing with the actual volume. 【Result】 The adaptive slice distance algorithm demonstrated high accuracy and good adaptability on both standard geometric bodies and complex shape models,and showed higher precision and robustness under different densities. The volume of the model piglet was calculated to be 4379.658 cm3 by the method of segmentation first and then volume calculation. The absolute error compared with the actual volume was 157.642 cm3,and the relative error was 3.47%. The data of 371 pig body point cloud samples were divided into 222 training samples and 149 test samples. A weight prediction model was constructed based on volume,and the correlation coefficient(r)between volume and weight was 0.952,indicating that there was extremely strong positive correlation between the calculation result of pig body point cloud volume and the actual weight of pigs. The absolute error and relative error of the estimated weight were 3.244 kg and 2.91% respectively. The point cloud calculation of the volume and proportion of each part of the entire pig bodies showed that the average proportion of the head volume was 6.49%,the average proportion of the limb volume was 10.32%,and the average proportion of the Torso volume was 83.04%. 【Conclusion】 The slice volume calculation method based on adaptive cutting distance is applicable to the calculation of point cloud vo-lume in pig body segmentation. It shows obvious advantages in the calculation of point cloud volume with different densities and complex geometric shapes,effectively solving the problem that the traditional fixed slice method cannot adapt to the uneven densities of point clouds and the continuous change of volume. That is,by measuring the volume of different parts,the proportion of each part of the pig body can be estimated. It provides support for meat density assessment and quantitative breeding,and obtaining new phenotypes information of pigs.

     

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