Roussel Johanna, Geiger Felix, Fischbach Andreas, Jahnke Siegfried, Scharr Hanno
Institute of Bio- and Geo-sciences, IBG-2: Plant Sciences, Forschungszentrum Jülich GmbH Jülich, Germany.
Front Plant Sci. 2016 Jun 7;7:745. doi: 10.3389/fpls.2016.00745. eCollection 2016.
We describe a method for 3D reconstruction of plant seed surfaces, focusing on small seeds with diameters as small as 200 μm. The method considers robotized systems allowing single seed handling in order to rotate a single seed in front of a camera. Even though such systems feature high position repeatability, at sub-millimeter object scales, camera pose variations have to be compensated. We do this by robustly estimating the tool center point from each acquired image. 3D reconstruction can then be performed by a simple shape-from-silhouette approach. In experiments we investigate runtimes, theoretically achievable accuracy, experimentally achieved accuracy, and show as a proof of principle that the proposed method is well sufficient for 3D seed phenotyping purposes.
我们描述了一种用于植物种子表面三维重建的方法，重点关注直径小至200μm的小种子。该方法考虑了允许单个种子处理的自动化系统，以便在相机前旋转单个种子。尽管此类系统具有高位置重复性，但在亚毫米级物体尺度下，相机姿态变化必须得到补偿。我们通过从每个采集的图像中稳健地估计工具中心点来做到这一点。然后可以通过简单的从轮廓提取形状的方法进行三维重建。在实验中，我们研究了运行时间、理论上可达到的精度、实验获得的精度，并作为原理证明表明所提出的方法足以用于三维种子表型分析目的。
