Abstract
Traditional plannar images lack depth information and are challenging for accurate measurement of morphological variables such as volume and deformity index of apples. This study presents a new evaluation of a custom-assembled binocular structured light system, combined with a three-dimensional (3D) reconstruction approach, for accurate estimations of the morphological variables of apples. The system was mainly composed of a digital projector for generating structured patterns and two cameras in a symmetric arrangement. The 3D reconstruction accuracy was verified by standard samples, with the relative errors concentrating within 3%, and most were within 1% (depth error of 0.5 mm). Multi-view registration based on a rotary table was used for restoring more complete 3D information of apples. A method based on the normal vector of the point cloud was presented to complement the bottom of the apple and extract the shoulders. 3D reconstruction of 82 apples with different morphologies was performed, from which morphological variables of deformity index, the maximum diameter, fruit shape index, volume and mass were estimated. The R2 values between the actual measurements and the results obtained from the 3D point cloud were 0.9941, 0.9594, 0.8015, 0.9915 and 0.9960, respectively. This study showed that high-accuracy measurement of apple morphological variables can be achieved by binocular structured light-based 3D reconstruction, which would be beneficial for subsequent apple grading and phenotyping analysis.
Published Version
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