Hawk‐eye‐inspired perception algorithm of stereo vision for obtaining orchard 3D point cloud navigation map
作者机构：College of EngineeringChina Agricultural UniversityBeijingChina Jiangsu Province and Education Ministry Co‐sponsored Synergistic Innovation Center of Modern Agricultural EquipmentJiangsu UniversityZhenjiangChina Key Laboratory of Spatial‐temporal Big Data Analysis and Application of Natural Resources in MegacitiesMNRShanghaiChina Department of Aeronautical and Automotive EngineeringLoughborough UniversityLoughboroughLeicestershireUK College of Water Resources and Civil EngineeringChina Agricultural UniversityBeijingChina State Key Laboratory of Virtual Reality Technology and SystemsBeihang UniversityBeijingChina Key Laboratory of Urban Land Resources Monitoring and SimulationMinistry of Natural ResourcesShenzhenChina
出 版 物：《CAAI Transactions on Intelligence Technology》 (智能技术学报（英文）)
年 卷 期：2023年第8卷第3期
页 面：987-1001页
核心收录：
学科分类：081203[工学-计算机应用技术] 08[工学] 0835[工学-软件工程] 0812[工学-计算机科学与技术（可授工学、理学学位）]
基 金：funded by the National Natural Science Foundation of China(No.51979275) Key Laboratory of Spatial‐temporal Big Data Analysis and Application of Nat-ural Resources in Megacities,MNR(No.KFKT‐2022‐05) Open Fund of Key Laboratory of Urban Land Resources Monitoring and Simulation,Ministry of Natural Resources(No.KF‐2021‐06‐115) Open Project Program of State Key Laboratory of Virtual Reality Technology and Systems,Bei-hang University(No.VRLAB2022C10) Jiangsu Province and Education Ministry Co‐sponsored Synergistic Innovation Center of Modern Agricultural Equipment(No.XTCX2002) 2115 Talent Development Program of China Agricultural University and Chinese Universities Scientific Fund(No.2021TC105)
主 题：adaptive high dynamic range binocular stereo vision hawk‐eye‐inspired perception point cloud of orchard super‐resolution generative adversarial network
摘 要：The binocular stereo vision is the lowest cost sensor for obtaining 3D *** the weakness of long‐distance measurement and stability,the improvement of accuracy and stability of stereo vision is urgently required for application of precision *** address the challenges of stereo vision long‐distance measurement and stable perception without hardware upgrade,inspired by hawk eyes,higher resolution perception and the adaptive HDR(High Dynamic Range)were introduced in this *** the function from physiological structure of‘deep fovea’and‘shallow fovea’of hawk eye,the higher resolution reconstruction method in this paper was aimed at ac-curacy *** by adjustment of pupils,the adaptive HDR method was proposed for high dynamic range optimisation and stable *** various light conditions,compared with default stereo vision,the accuracy of proposed algorithm was improved by 28.0%evaluated by error ratio,and the stability was improved by 26.56%by disparity *** fixed distance measurement,the maximum improvement was 78.6%by standard *** on the hawk‐eye‐inspired perception algorithm,the point cloud of orchard was improved both in quality and *** hawk‐eye‐inspired perception algorithm contributed great advance in binocular 3D point cloud recon-struction in orchard navigation map.
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