Body Dimension Measurements of Qinchuan Cattle with Transfer Learning from LiDAR Sensing.

For the time-consuming and stressful body measuring task of Qinchuan cattle and farmers, the demand for the automatic measurement of body dimensions has become more and more urgent. It is necessary to explore automatic measurements with deep learning to improve breeding efficiency and promote the development of industry. In this paper, a novel approach to measuring the body dimensions of live Qinchuan cattle with on transfer learning is proposed. Deep learning of the Kd-network was trained with classical three-dimensional (3D) point cloud datasets (PCD) of the ShapeNet datasets. After a series of processes of PCD sensed by the light detection and ranging (LiDAR) sensor, the cattle silhouettes could be extracted, which after augmentation could be applied as an input layer to the Kd-network. With the output of a convolutional layer of the trained deep model, the output layer of the deep model could be applied to pre-train the full connection network. The TrAdaBoost algorithm was employed to transfer the pre-trained convolutional layer and full connection of the deep model. To classify and recognize the PCD of the cattle silhouette, the average accuracy rate after training with transfer learning could reach up to 93.6%. On the basis of silhouette extraction, the candidate region of the feature surface shape could be extracted with mean curvature and Gaussian curvature. After the computation of the FPFH (fast point feature histogram) of the surface shape, the center of the feature surface could be recognized and the body dimensions of the cattle could finally be calculated. The experimental results showed that the comprehensive error of body dimensions was close to 2%, which could provide a feasible approach to the non-contact observations of the bodies of large physique livestock without any human intervention.

Non-Contact Body Measurement for Qinchuan Cattle with LiDAR Sensor.

The body dimension measurement of large animals plays a significant role in quality improvement and genetic breeding, and the non-contact measurements by computer vision-based remote sensing could represent great progress in the case of dangerous stress responses and time-costing manual measurements. This paper presents a novel approach for three-dimensional digital modeling of live adult Qinchuan cattle for body size measurement. On the basis of capturing the original point data series of live cattle by a Light Detection and Ranging (LiDAR) sensor, the conditional, statistical outliers and voxel grid filtering methods are fused to cancel the background and outliers. After the segmentation of K-means clustering extraction and the RANdom SAmple Consensus (RANSAC) algorithm, the Fast Point Feature Histogram (FPFH) is put forward to get the cattle data automatically. The cattle surface is reconstructed to get the 3D cattle model using fast Iterative Closest Point (ICP) matching with Bi-directional Random K-D Trees and a Greedy Projection Triangulation (GPT) reconstruction method by which the feature points of cattle silhouettes could be clicked and calculated. Finally, the five body parameters (withers height, chest depth, back height, body length, and waist height) are measured in the field and verified within an accuracy of 2 mm and an error close to 2%. The experimental results show that this approach could be considered as a new feasible method towards the non-contact body measurement for large physique livestock.

Real-Time Motion Tracking for Indoor Moving Sphere Objects with a LiDAR Sensor.

Object tracking is a crucial research subfield in computer vision and it has wide applications in navigation, robotics and military applications and so on. In this paper, the real-time visualization of 3D point clouds data based on the VLP-16 3D Light Detection and Ranging (LiDAR) sensor is achieved, and on the basis of preprocessing, fast ground segmentation, Euclidean clustering segmentation for outliers, View Feature Histogram (VFH) feature extraction, establishing object models and searching matching a moving spherical target, the Kalman filter and adaptive particle filter are used to estimate in real-time the position of a moving spherical target. The experimental results show that the Kalman filter has the advantages of high efficiency while adaptive particle filter has the advantages of high robustness and high precision when tested and validated on three kinds of scenes under the condition of target partial occlusion and interference, different moving speed and different trajectories. The research can be applied in the natural environment of fruit identification and tracking, robot navigation and control and other fields.

A Portable Farmland Information Collection System with Multiple Sensors.

Precision agriculture is the trend of modern agriculture, and it is also one of the important ways to realize the sustainable development of agriculture. In order to meet the production requirements of precision agriculture-efficient use of agricultural resources, and improving the crop yields and quality-some necessary field information in crop growth environment needs to be collected and monitored. In this paper, a farmland information collection system is developed, which includes a portable farmland information collection device based on STM32 (a 32-bit comprehensive range of microcontrollers based on ARM Crotex-M3), a remote server and a mobile phone APP. The device realizes the function of portable and mobile collecting of multiple parameters farmland information, such as chlorophyll content of crop leaves, air temperature, air humidity, and light intensity. UM220-III (Unicore Communication Inc., Beijing, China) is used to realize the positioning based on BDS/GPS (BeiDou Navigation Satellite System, BDS/Global Positioning System, GPS) dual-mode navigation and positioning system, and the CDMA (Code Division Multiple Access, CDMA) wireless communication module is adopted to realize the real-time remote transmission. The portable multi-function farmland information collection system is real-time, accurate, and easy to use to collect farmland information and multiple information parameters of crops.

Leaf Chlorophyll Content Estimation of Winter Wheat Based on Visible and Near-Infrared Sensors.

The leaf chlorophyll content is one of the most important factors for the growth of winter wheat. Visual and near-infrared sensors are a quick and non-destructive testing technology for the estimation of crop leaf chlorophyll content. In this paper, a new approach is developed for leaf chlorophyll content estimation of winter wheat based on visible and near-infrared sensors. First, the sliding window smoothing (SWS) was integrated with the multiplicative scatter correction (MSC) or the standard normal variable transformation (SNV) to preprocess the reflectance spectra images of wheat leaves. Then, a model for the relationship between the leaf relative chlorophyll content and the reflectance spectra was developed using the partial least squares (PLS) and the back propagation neural network. A total of 300 samples from areas surrounding Yangling, China, were used for the experimental studies. The samples of visible and near-infrared spectroscopy at the wavelength of 450,900 nm were preprocessed using SWS, MSC and SNV. The experimental results indicate that the preprocessing using SWS and SNV and then modeling using PLS can achieve the most accurate estimation, with the correlation coefficient at 0.8492 and the root mean square error at 1.7216. Thus, the proposed approach can be widely used for winter wheat chlorophyll content analysis.