Geometric Modeling of Rosa roxburghii Fruit Based on Three-Dimensional Point Cloud Reconstruction

Zhiping Xie,Yancheng Lang,Luqi Chen,Nesibe E Kafkas

doi:10.1155/2021/9990499

Abstract

Fruit three-dimensional (3D) model is crucial to estimating its geometrical and mechanical properties and improving the level of fruit mechanical processing. Considering the complex geometrical features and the required model accuracy, this paper proposed a 3D point cloud reconstruction method for the Rosa roxburghii fruit based on a three-dimensional laser scanner, including 3D point cloud generation, point cloud registration, fruit thorns segmentation, and 3D reconstruction. The 3D laser scanner was used to obtain the original 3D point cloud data of the Rosa roxburghii fruit, and then the fruit thorns data were removed by the segmentation algorithm combining the statistical outlier removal and radius outlier removal. By analyzing the effects of five-point cloud simplification methods, the optimal simplification method was determined. The Poisson reconstruction algorithm, the screened Poisson reconstruction algorithm, the greedy projection triangulation algorithm, and the Delaunay triangulation algorithm were utilized to reconstruct the fruit model. The number of model vertices, the number of facets, and the relative volume error were used to determine the best reconstruction algorithm. The results indicated that this model can better reconstruct the actual surface of Rosa roxburghii fruit. The method provides a reference for the related application.

Highlights

Rosa roxburghii is a perennial deciduous shrub of the Rosaceae Rosa genus, which is mainly distributed in southwest areas in China, such as Yunnan, Guizhou, and Sichuan [1, 2]
In order to realize the whole automation of fruit processing, it is important for the three-dimensional digital reconstruction of Rosa roxburghii fruit
A robotic arm with a camera was used to collect a series of two-dimensional images of the object to achieve three-dimensional reconstruction, and the influence of the motion of the robotic arm on the accuracy of the threedimensional image reconstruction was studied [13]. is method has the advantage of quickness and simplicity but has the defect in detailed features

Summary

Introduction

Rosa roxburghii is a perennial deciduous shrub of the Rosaceae Rosa genus, which is mainly distributed in southwest areas in China, such as Yunnan, Guizhou, and Sichuan [1, 2]. Rosa roxburghii fruit has high nutritional value and health function [2,3,4], and it is a kind of fruit with great economic value. The Rosa roxburghii has been vigorously promoted in Guizhou, which has 133,000 hectares of planting area and 100,000 tons of annual output of fresh fruits. In order to realize the whole automation of fruit processing, it is important for the three-dimensional digital reconstruction of Rosa roxburghii fruit. E image-based reconstruction method is to use multiple images to reconstruct the surface model of crops. Quan et al [11] and Wang et al [12] reconstructed 3D models of plants and corn ears, respectively, based on image technology. A robotic arm with a camera was used to collect a series of two-dimensional images of the object to achieve three-dimensional reconstruction, and the influence of the motion of the robotic arm on the accuracy of the threedimensional image reconstruction was studied [13]. is method has the advantage of quickness and simplicity but has the defect in detailed features

Methods

Results

Conclusion