CN118243681A - Herbaceous plant overground biomass multisource observation method and system - Google Patents

Herbaceous plant overground biomass multisource observation method and system Download PDF

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CN118243681A
CN118243681A CN202410267712.3A CN202410267712A CN118243681A CN 118243681 A CN118243681 A CN 118243681A CN 202410267712 A CN202410267712 A CN 202410267712A CN 118243681 A CN118243681 A CN 118243681A
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plant
image
biomass
herbaceous
observation
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吴方明
赵旦
吴炳方
许聪
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Aerospace Information Research Institute of CAS
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Aerospace Information Research Institute of CAS
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Abstract

The application provides a method and a system for multi-source observation of aboveground biomass of a grassland plant, and relates to the technical field of ecological environment monitoring. The method comprises the following steps: determining a segmentation map of each plant based on the visible light image and the multispectral image of the target area herbaceous plant; determining a topographic map based on the target area depth image and the segmentation map of each plant; determining the volume of each plant based on the segmentation map, the depth image and the topographic map of each plant; determining the average density of each plant based on the multispectral image and the position data of each plant; summing the product of the volume of each plant and the average density of each plant to obtain the herbaceous plant aboveground biomass of the target area. The herbaceous plant overground biomass multisource observation method and the herbaceous plant overground biomass multisource observation system can improve efficiency and accuracy of herbaceous plant overground biomass observation.

Description

Herbaceous plant overground biomass multisource observation method and system
Technical Field
The invention relates to the technical field of ecological environment monitoring, in particular to a method and a system for observing biomass on the ground of a grassland plant in multiple sources.
Background
Herbaceous plant overground biomass is a key index for representing carbon reserves and productivity of herbaceous plants, and ground observation technology and data thereof are important bases for estimating community to regional scale overground biomass.
The current ground biomass observing means of herbaceous plants have larger limitations, and the harvesting method of herbaceous plants can cause damage to a native ecological system, has high cost and low efficiency, and has been widely researched based on the ground biomass of herbaceous plants of the sample square scale of cameras and laser radars, but the observing precision of the ground biomass is relatively low due to the differences of the heights, densities and community structures of different grassland types of plants. Therefore, development of nondestructive in-situ observation technology and equipment for herbaceous plant overground biomass is urgently needed, and damage to vegetation caused by ground observation is avoided while observation accuracy and efficiency are ensured.
Disclosure of Invention
The invention provides a method and a system for multi-source observation of aboveground biomass of a grassland plant, which are used for solving the defects that vegetation is easily damaged and the observation precision and efficiency are low when the aboveground biomass is observed in the prior art.
In a first aspect, the present application provides a method for multi-source observation of aboveground biomass of a herbaceous plant, comprising:
Determining a segmentation map of each plant based on the visible light image and the multispectral image of the target area herbaceous plant; determining a topographic map based on the target area depth image and the segmentation map of each plant;
Determining the volume of each plant based on the segmentation map, the depth image and the topographic map of each plant; determining the average density of each plant based on the multispectral image and the position data of each plant;
Summing the product of the volume of each plant and the average density of each plant to obtain the herbaceous plant aboveground biomass of the target area.
In one embodiment, the determining the volume of each plant based on the segmentation map, the depth image, and the topography map of each plant includes:
determining the height and area of each plant based on the segmentation map, the depth image and the topographic map of each plant;
Applying the height and area of each plant to a herbal volume model to obtain the volume of each plant output by the herbal volume model;
Wherein the herbaceous plant volume model determines the volume of each plant by a target coefficient, the height and the area of each plant; the target coefficient is determined based on the plant type.
In one embodiment, the determining the average density of each plant based on the multispectral image and the position data of each plant comprises:
applying spectral reflectance of each plant wave band in the multispectral image and position data of each plant to a herbaceous plant dry matter density model to obtain average density of each plant output by the herbaceous plant dry matter density model;
The herbaceous plant dry matter density model determines the average density of each plant through model parameters, different wave band reflectivities and biomass sensitive wave band numbers between visible light and near infrared; the model parameters are determined by plant species and position data of the individual plants; the number of biomass sensitive wave bands between the different wave band reflectivities and the visible light to near infrared is determined by the correlation of the spectral reflectivities of the plant wave bands and the above-ground biomass.
In one embodiment, the determining a segmentation map of each plant based on the visible light image and the multispectral image of the target area herbaceous plants comprises:
dividing a ground part and a vegetation part based on the visible light image and the multispectral image to obtain a divided image;
and carrying out example segmentation on the segmented image to obtain a segmented graph of each plant.
In one embodiment, the determining a topography map based on the target region depth image and the segmentation map of the individual plants comprises:
And interpolating the ground part in the depth image based on the segmentation map of each plant to obtain the topographic map.
In one embodiment, the method further comprises:
performing posture correction and image registration on the original visible light image of the target area, the original depth image of the target area and the original multispectral image of the target area to obtain visible light images, depth images and multispectral image samples;
And carrying out spectrum correction on the multispectral image sample to obtain the multispectral image.
In a second aspect, the present application also provides a system for multi-source observation of biomass on the ground of a grassland plant, comprising:
A multi-mode camera and processing module;
the multi-mode camera comprises a visible light sensor, a depth sensor, a multi-spectrum sensor and a lens; the multi-mode camera is used for collecting an original visible light image of a target area, an original multi-spectrum image of the target area and an original depth image of the target area;
The processing module is used for realizing the herbaceous plant aboveground biomass multisource observation method according to any embodiment.
In a third aspect, the application also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method according to the first aspect when executing the program.
In a fourth aspect, the application also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method according to the first aspect.
In a fifth aspect, the application also provides a computer program product comprising a computer program which, when executed by a processor, implements the method according to the first aspect.
According to the method and the system for multi-source observation of the herbaceous plant overground biomass, provided by the application, the volume and the density of each plant are determined through the visible light image, the multispectral image and the depth image of the herbaceous plant in the target area of the field multi-source nondestructive observation, so that the overground biomass of the herbaceous plant is calculated, and the efficiency and the accuracy of the herbaceous plant overground biomass observation can be improved while the herbaceous plant is not damaged.
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In order to more clearly illustrate the application or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method for multi-source observation of herbaceous plant overground biomass;
FIG. 2 is a schematic structural diagram of a herbaceous plant aboveground biomass multisource observation system provided by the application;
FIG. 3 is a schematic diagram of a method for multi-source observation of herbaceous plant aboveground biomass provided by the application;
Fig. 4 is a schematic structural diagram of an electronic device provided by the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Fig. 1 is a schematic flow chart of a method for observing the above-ground biomass multisource of herbaceous plants according to an embodiment of the application. Referring to fig. 1, an embodiment of the present application provides a method for observing multiple sources of biomass on a herbaceous plant, an execution subject of which may be a herbaceous plant ground biomass multiple source observing system, the method may include:
Step 110, determining a segmentation map of each plant based on a visible light image and a multispectral image of the herbaceous plants in the target area; determining a topographic map based on the depth image of the target area and the segmentation map of each plant;
Step 120, determining the volume of each plant based on the segmentation map, the depth image and the topographic map of each plant; determining the average density of each plant based on the multispectral image and the position data of each plant;
and 130, summing the product of the volume of each plant and the average density of each plant to obtain the aboveground biomass of the herbaceous plants in the target area.
FIG. 2 is a schematic structural diagram of a herbaceous plant aboveground biomass multisource observation system. As shown in fig. 2, the herbaceous plant aboveground biomass multisource observation system may include a multimodal camera, an inertial navigation module, a positioning module, a control module, a processing module, a memory, a display, a power module, a connection line, and a stand.
Specifically, the multi-mode camera lens is installed below the horizontal portion of the support towards the ground, and the multi-mode camera can comprise a visible light sensor, a depth sensor, a multi-spectrum sensor and a lens, and is used for acquiring an original visible light image, a depth image and a multi-spectrum image of a target area respectively. The depth sensor may be a binocular structured light sensor or a TOF sensor. The multispectral sensor can detect biomass sensitive bands between visible light and near infrared.
The inertial navigation module and the positioning module are arranged above the horizontal part of the bracket and are respectively used for acquiring attitude data and position data. The inertial navigation module at least comprises a gyroscope and an accelerometer, wherein the gyroscope is used for measuring the angle/angular speed of the three shafts, and the accelerometer is used for measuring the acceleration of the three shafts. The positioning module can be a real-time differential positioning module and is used for accurately determining the position of the sample side.
The control module, the processing module, the memory, the display and the power module are arranged on the handheld part of the bracket. The control module can be used for receiving time data in the positioning data, controlling the multi-mode camera to synchronously acquire images, and transmitting acquired data to the memory for storage. The processing module can be used for preprocessing the acquired data, dividing the image, calculating the plant height and area, calculating the aboveground biomass and sending the data to the memory for storage. The memory may be used to store control programs, processing programs, model parameters, collected data, calculation results. The display can be used for visually displaying the collected data, the calculation result, the interface of the control module and the processing module. The power supply can provide power for the multi-mode camera, the inertial navigation module, the positioning module, the control module, the processing module, the memory and the display.
The connecting wire is used for electrically connecting the multi-mode camera, the inertial navigation module, the positioning module, the control module, the processing module, the memory, the display and the power supply.
The support comprises horizontal part, handheld part and connecting portion, and horizontal part is used for the installation of multimodality camera, inertial navigation module, positioning module, and handheld part is used for control module, processing module, memory, display, power installation, and connecting portion is used for horizontal part and handheld part mechanical connection.
Before step 110, the herbaceous plant above-ground biomass multi-source observation system can synchronously acquire multi-source nondestructive observation data of herbaceous plants in a target area, including an original visible light image, an original depth image, an original multi-spectrum image, posture data and position data, and can acquire multi-spectrum images of a standard reflecting plate. And preprocessing each image. In the case of collection, the period of sunlight can be selected, and the collection device cannot produce shadows on the sample side or on the standard reflecting plate when placed.
In step 110, the above-ground biomass multisource observation system for herbaceous plants may segment vegetation portions based on the visible light image and multispectral image of the herbaceous plants in the target area, and perform example segmentation on the vegetation portions to determine a segmentation map for each plant. The herbaceous plant aboveground biomass multisource observation system can also obtain a complete topography map based on the depth image of the target area and the segmentation map of each plant.
In step 120, the above-ground biomass multisource observation system for herbaceous plants may combine the segmentation map, depth image and topography map for each plant to obtain the height and area of each plant, and thus the volume of each plant. The herbaceous plant aboveground biomass multisource observation system can determine the average density of each plant based on the multispectral images and the collected position data of each plant.
In step 130, the above-ground biomass multi-source observation system may multiply the volume of each plant by the average density of each plant to obtain the biomass of each plant, and then sum the biomass of each plant in the target area to obtain the above-ground biomass of the herb in the target area.
According to the method for observing the herbaceous plant overground biomass multisource, provided by the embodiment of the application, the volume and the density of each plant are determined through the visible light image, the multispectral image and the depth image of the herbaceous plant in the target area of the field multisource nondestructive observation, so that the overground biomass of the herbaceous plant is calculated, and the efficiency and the accuracy of the herbaceous plant overground biomass observation can be improved while the herbaceous plant is not damaged.
Fig. 3 is a schematic diagram of a method for observing the above-ground biomass of a herbaceous plant according to the present application, which corresponds to fig. 1, and a description of the method for observing the above-ground biomass of a herbaceous plant can be made based on fig. 3.
In one embodiment, determining the volume of each plant based on the segmentation map, depth image, and topography map of each plant comprises:
Determining the height and area of each plant based on the segmentation map, the depth image and the topographic map of each plant;
Applying the height and area of each plant to the herbaceous plant volume model to obtain the volume of each plant output by the herbaceous plant volume model;
the herbaceous plant volume model determines the volume of each plant through the target coefficient, the height and the area of each plant; the target coefficients are determined based on the plant type.
The herbaceous plant overground biomass multisource observation system can combine the segmentation map, the depth image and the topographic map of each plant to obtain the height and the area of each plant, then apply the height and the area of each plant to the corresponding herbaceous plant volume model, and calculate the volume of each plant. The calculation formula of the herb volume V model is as follows:
V=ahS
wherein V is a herbaceous plant volume model, a is a target coefficient, h is any plant height, and S is any plant area.
According to the herbaceous plant aboveground biomass multisource observation method provided by the embodiment of the application, the volume and the density of each plant are determined by applying the height and the area of each plant to the herbaceous plant volume model, so that the aboveground biomass of the herbaceous plant is calculated, and the efficiency and the accuracy of the herbaceous plant aboveground biomass observation can be further improved.
In one embodiment, determining the average density of each plant based on the multispectral image and the location data of each plant comprises:
Applying the spectral reflectance of each plant wave band and the position data of each plant in the multispectral image to the herbaceous plant dry matter density model to obtain the average density of each plant output by the herbaceous plant dry matter density model;
The herbaceous plant dry matter density model determines the average density of each plant through model parameters, different wave band reflectivities and biomass sensitive wave band numbers between visible light and near infrared; model parameters are determined by plant species and position data for each plant; the number of biomass sensitive wave bands between the reflectivity of different wave bands and the visible light to near infrared is determined by the correlation of the spectral reflectivity of each plant wave band and the above-ground biomass.
The herbaceous plant ground biomass multisource observation system can apply the spectral reflectance and observation position data of each plant wave band of the multispectral image to the herbaceous plant dry matter density models of corresponding types, and calculate the average density of each plant. The calculation formula of the dry matter density rho model of the herbaceous plants is as follows:
ρ=b0+b1r1+…+bnrn
Wherein ρ is a dry matter density model of herbaceous plants, b 0、b1…bn is a model parameter changed by plant species and position data of each plant, r 1、r2…rn is reflectivity of different wave bands, and n is biomass sensitive wave band number between visible light and near infrared.
According to the herbaceous plant aboveground biomass multisource observation method provided by the embodiment of the application, the spectral reflectivity and the observation position data of each plant wave band of the multispectral image are applied to the corresponding type of herbaceous plant dry matter density model, so that the average density of each plant is calculated, the aboveground biomass of the herbaceous plant is calculated, and the efficiency and the accuracy of the herbaceous plant aboveground biomass observation can be further improved.
In one embodiment, determining a segmentation map for each plant based on the visible light image and the multispectral image of the target area herbaceous plants comprises:
dividing a ground part and a vegetation part based on the visible light image and the multispectral image to obtain a divided image;
and carrying out example segmentation on the segmented image to obtain a segmented graph of each plant.
The herbaceous plant overground biomass multisource observation system can divide a ground part and a vegetation part from a visible light image and a multispectral image to obtain a divided image, and then the vegetation part in the divided image is subjected to example division to obtain a division diagram of each plant.
Specifically, the example segmentation may automatically identify and generate a segmentation mask for all plant objects present in the image using a optimized segmentation cut Model (SEGMENT ANYTHING Model, SAM), and classify all segmented objects using a multi-channel attention classification Model under knowledge constraints.
The optimized SAM model utilizes a mask decoding module layer which is already pre-trained by the SAM to insert two layers of multi-layer perceptrons. The multi-layer perceptron is trained using visible image textures and multispectral image spectral features of the plant as inputs.
The multi-channel attention classification model under knowledge constraint uses a neural network to acquire the importance degree of each characteristic channel on the characteristic graph, gives each characteristic channel a weight value according to the importance degree, and then prompts the word to adjust the weight value according to the input vegetation type, so that the classification model focuses on the important channels more.
According to the herbaceous plant aboveground biomass multisource observation method provided by the embodiment of the application, the division and the example division of the vegetation part are carried out through the visible light image and the multispectral image, so that the division map of each plant can be obtained, and the efficiency and the accuracy of herbaceous plant aboveground biomass observation can be further improved.
In one embodiment, determining a topography map based on the target area depth image and the segmentation map for each plant comprises:
and interpolating the ground part in the depth image based on the segmentation map of each plant to obtain a topographic map.
The herbaceous plant aboveground biomass multisource observation system interpolates the ground part in the depth image based on the segmentation map of each plant, and can supplement missing data to obtain a complete topography map.
According to the herbaceous plant aboveground biomass multisource observation method provided by the embodiment of the application, the complete topography can be obtained by interpolating the ground part in the depth image, data support is provided for calculation of herbaceous plant aboveground biomass, and efficiency and accuracy of herbaceous plant aboveground biomass observation can be further improved.
In one embodiment, the method of multi-source observation of herbaceous plant aboveground biomass further comprises:
Carrying out posture correction and image registration on the original visible light image of the target area, the original depth image of the target area and the original multispectral image of the target area to obtain visible light images, depth images and multispectral image samples;
and carrying out spectrum correction on the multispectral image sample to obtain a multispectral image.
Specifically, the posture correction is to perform perspective transformation on an original visible light image, an original depth image and an original multispectral image sample of a target area by using posture data when the camera shoots, so that the original visible light image, the original depth image and the original multispectral image sample are subjected to projection transformation on a horizontal plane.
The image registration is to perform translation and scaling transformation on the visible light image, the depth image and the multispectral image after posture correction based on the relative positions among the cameras and the internal references of the cameras, and finally obtain visible light image, depth image and multispectral image samples. The visible light image after posture correction is used as a reference image, and the depth image and the multispectral image after posture correction are images which need to be converted.
The spectrum correction of the multispectral image sample is to divide the value of each wave band of the multispectral image of the sample side by the value of the corresponding wave band obtained on the standard reflecting plate and then multiply the reflectivity of the standard reflecting plate to obtain the multispectral image.
According to the herbaceous plant aboveground biomass multisource observation method provided by the embodiment of the application, the required visible light image, depth image and multispectral image can be obtained through preprocessing (posture correction, image registration and spectrum correction) of the original visible light image, depth image and multispectral image of the target area, initial data is provided for calculation of herbaceous plant aboveground biomass, and efficiency and accuracy of herbaceous plant aboveground biomass observation can be further improved.
The above-mentioned multi-source observation system for the above-mentioned plant overground biomass, which is provided by the application, is described below, and the below-mentioned multi-source observation system for the above-mentioned plant overground biomass and the above-mentioned multi-source observation method for the above-mentioned plant overground biomass can be referred to correspondingly.
Fig. 2 is a schematic structural diagram of a herbaceous plant aboveground biomass multisource observation system provided by the embodiment of the application. Referring to fig. 2, the system for observing the above-ground biomass of the herbaceous plants according to the embodiment of the application may include:
A multi-mode camera and processing module;
the multi-mode camera comprises a visible light sensor, a depth sensor, a multi-spectrum sensor and a lens; the multi-mode camera is used for collecting an original visible light image of a target area, an original multi-spectrum image of the target area and an original depth image of the target area;
The processing module is used for realizing the herbaceous plant aboveground biomass multisource observation method according to any embodiment.
According to the herbaceous plant aboveground biomass multisource observation system provided by the embodiment of the application, the volume and the density of each plant are determined through the visible light image, the multispectral image and the depth image of the herbaceous plant in the target area of the field multisource nondestructive observation, so that the aboveground biomass of the herbaceous plant is calculated, and the efficiency and the accuracy of the herbaceous plant aboveground biomass observation can be improved while the herbaceous plant is not damaged.
Specifically, the above-mentioned herbaceous plant above-ground biomass multisource observation system provided by the embodiment of the present application can implement all the method steps implemented by the method embodiment of the above-mentioned herbaceous plant above-ground biomass multisource observation system, and can achieve the same technical effects, and the same parts and beneficial effects as those of the method embodiment in the present embodiment are not specifically described herein.
Fig. 4 illustrates a physical schematic diagram of an electronic device, as shown in fig. 4, which may include: processor 410, communication interface (Communications Interface) 420, memory 430, and communication bus 440, wherein processor 410, communication interface 420, and memory 430 communicate with each other via communication bus 440. The processor 410 may invoke logic instructions in the memory 430 to perform a method of multi-source observation of herbaceous plant aboveground biomass including, for example:
Determining a segmentation map of each plant based on the visible light image and the multispectral image of the target area herbaceous plant; determining a topographic map based on the target area depth image and the segmentation map of each plant;
Determining the volume of each plant based on the segmentation map, the depth image and the topographic map of each plant; determining the average density of each plant based on the multispectral image and the position data of each plant;
Summing the product of the volume of each plant and the average density of each plant to obtain the herbaceous plant aboveground biomass of the target area.
Further, the logic instructions in the memory 430 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present application also provides a non-transitory computer readable storage medium having stored thereon a computer program which when executed by a processor is implemented to perform the steps of the above-mentioned methods of herbaceous plant above-ground biomass multisource observation method, for example, comprising:
Determining a segmentation map of each plant based on the visible light image and the multispectral image of the target area herbaceous plant; determining a topographic map based on the target area depth image and the segmentation map of each plant;
Determining the volume of each plant based on the segmentation map, the depth image and the topographic map of each plant; determining the average density of each plant based on the multispectral image and the position data of each plant;
Summing the product of the volume of each plant and the average density of each plant to obtain the herbaceous plant aboveground biomass of the target area.
In yet another aspect, the present application also provides a computer program product comprising a computer program, the computer program being storable on a non-transitory computer readable storage medium, the computer program, when executed by a processor, being capable of performing the steps of the above-mentioned method of herbaceous plant above-ground biomass multisource observation, for example, comprising:
Determining a segmentation map of each plant based on the visible light image and the multispectral image of the target area herbaceous plant; determining a topographic map based on the target area depth image and the segmentation map of each plant;
Determining the volume of each plant based on the segmentation map, the depth image and the topographic map of each plant; determining the average density of each plant based on the multispectral image and the position data of each plant;
Summing the product of the volume of each plant and the average density of each plant to obtain the herbaceous plant aboveground biomass of the target area.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
In addition, it should be noted that: the terms "first," "second," and the like in embodiments of the present application are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application are capable of operation in sequences other than those illustrated or otherwise described herein, and that the "first" and "second" distinguishing between objects generally are not limited in number to the extent that the first object may, for example, be one or more.
In the embodiment of the application, the term "and/or" describes the association relation of the association objects, which means that three relations can exist, for example, a and/or B can be expressed as follows: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship.
In the embodiment of the application, the "determining B based on a" means that a is considered when determining B. Not limited to "B can be determined based on A alone", it should also include: "B based on A and C", "B based on A, C and E", "C based on A, further B based on C", etc. Additionally, a may be included as a condition for determining B, for example, "when a satisfies a first condition, B is determined using a first method"; for another example, "when a satisfies the second condition, B" is determined, etc.; for another example, "when a satisfies the third condition, B" is determined based on the first parameter, and the like. Of course, a may be a condition in which a is a factor for determining B, for example, "when a satisfies the first condition, C is determined using the first method, and B is further determined based on C", or the like.
The term "plurality" in embodiments of the present application means two or more, and other adjectives are similar.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims (10)

1. A method for multi-source observation of biomass on a grassland plant, comprising:
Determining a segmentation map of each plant based on the visible light image and the multispectral image of the target area herbaceous plant; determining a topographic map based on the target area depth image and the segmentation map of each plant;
Determining the volume of each plant based on the segmentation map, the depth image and the topographic map of each plant; determining the average density of each plant based on the multispectral image and the position data of each plant;
Summing the product of the volume of each plant and the average density of each plant to obtain the herbaceous plant aboveground biomass of the target area.
2. The method of multi-source observation of herbaceous plant aboveground biomass according to claim 1, wherein the determining the volume of each plant based on the segmentation map, the depth image and the topography map of each plant comprises:
determining the height and area of each plant based on the segmentation map, the depth image and the topographic map of each plant;
Applying the height and area of each plant to a herbal volume model to obtain the volume of each plant output by the herbal volume model;
Wherein the herbaceous plant volume model determines the volume of each plant by a target coefficient, the height and the area of each plant; the target coefficient is determined based on the plant type.
3. The method of multi-source observation of herbaceous plant aboveground biomass according to claim 1, wherein determining the average density of each plant based on the multispectral image and the position data of each plant comprises:
applying spectral reflectance of each plant wave band in the multispectral image and position data of each plant to a herbaceous plant dry matter density model to obtain average density of each plant output by the herbaceous plant dry matter density model;
The herbaceous plant dry matter density model determines the average density of each plant through model parameters, different wave band reflectivities and biomass sensitive wave band numbers between visible light and near infrared; the model parameters are determined by plant species and position data of the individual plants; the number of biomass sensitive wave bands between the different wave band reflectivities and the visible light to near infrared is determined by the correlation of the spectral reflectivities of the plant wave bands and the above-ground biomass.
4. The method for multi-source observation of herbaceous plant aboveground biomass according to claim 1, wherein the determining a segmentation map of each plant based on the visible light image and the multispectral image of the herbaceous plant of the target area comprises:
dividing a ground part and a vegetation part based on the visible light image and the multispectral image to obtain a divided image;
and carrying out example segmentation on the segmented image to obtain a segmented graph of each plant.
5. The method of herbaceous plant above-ground biomass multisource observation according to claim 1, wherein the determining of a topography map based on the target region depth image and the segmentation map of each plant comprises:
And interpolating the ground part in the depth image based on the segmentation map of each plant to obtain the topographic map.
6. A method of multi-source observation of herbaceous plant aboveground biomass according to any one of claims 1 to 5, further comprising:
performing posture correction and image registration on the original visible light image of the target area, the original depth image of the target area and the original multispectral image of the target area to obtain visible light images, depth images and multispectral image samples;
And carrying out spectrum correction on the multispectral image sample to obtain the multispectral image.
7. A grassland plant above-ground biomass multisource observation system, comprising:
A multi-mode camera and processing module;
the multi-mode camera comprises a visible light sensor, a depth sensor, a multi-spectrum sensor and a lens; the multi-mode camera is used for collecting an original visible light image of a target area, an original multi-spectrum image of the target area and an original depth image of the target area;
the processing module is used for realizing the herbaceous plant overground biomass multisource observation method according to any one of claims 1 to 6.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of multi-source observation of herbaceous plant aboveground biomass according to any one of claims 1 to 6 when the program is executed by the processor.
9. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the herbaceous plant above-ground biomass multisource observation method according to any one of claims 1 to 6.
10. A computer program product comprising a computer program which, when executed by a processor, implements a method for multisource observation of biomass on herbaceous plants according to any one of claims 1 to 6.
CN202410267712.3A 2024-03-08 2024-03-08 Herbaceous plant overground biomass multisource observation method and system Pending CN118243681A (en)

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