US 12,249,086 B2
Method for measuring growth height of plant, electronic device, and storage medium
Tzu-Chen Lin, New Taipei (TW); Jung-Hao Yang, New Taipei (TW); Chih-Te Lu, New Taipei (TW); and Chin-Pin Kuo, New Taipei (TW)
Assigned to HON HAI PRECISION INDUSTRY CO., LTD., New Taipei (TW)
Filed by HON HAI PRECISION INDUSTRY CO., LTD., New Taipei (TW)
Filed on Jan. 10, 2022, as Appl. No. 17/571,878.
Claims priority of application No. 202110037833.5 (CN), filed on Jan. 12, 2021.
Prior Publication US 2022/0222837 A1, Jul. 14, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 7/50 (2017.01); G02B 7/04 (2021.01); G06F 18/21 (2023.01); G06F 18/214 (2023.01); G06K 9/62 (2022.01); G06N 20/00 (2019.01); G06T 7/30 (2017.01); G06T 7/70 (2017.01); G06T 7/90 (2017.01); G06V 10/22 (2022.01); G06V 20/10 (2022.01); G06V 20/70 (2022.01); H04N 5/232 (2006.01); H04N 23/60 (2023.01)
CPC G06T 7/50 (2017.01) [G02B 7/04 (2013.01); G06F 18/214 (2023.01); G06F 18/217 (2023.01); G06N 20/00 (2019.01); G06T 7/30 (2017.01); G06T 7/70 (2017.01); G06T 7/90 (2017.01); G06V 10/225 (2022.01); G06V 20/188 (2022.01); G06V 20/70 (2022.01); H04N 23/60 (2023.01); G06T 2207/10024 (2013.01); G06T 2207/20081 (2013.01); G06T 2207/30188 (2013.01); G06T 2207/30242 (2013.01); G06T 2207/30244 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A method for measuring a growth height of a plant, the method being implemented by an electronic device, which is connected to a camera device, the method comprising:
in response to a received height measurement request, determining a plant to be detected according to the received height measurement request;
controlling the camera device to capture the plant to be detected, and obtaining a color image and a depth image of the plant to be detected, each of the color image and the depth image comprising a plurality of plants to be detected;
detecting the color image by a pre-trained detection model, and obtaining a plurality of detection boxes comprising the plurality of plants to be detected;
aligning the color image and the depth image by an image alignment algorithm and obtaining an alignment image, comprising: acquiring depth pixels of the depth image; mapping the depth pixels to a preset depth coordinate system, and obtaining depth coordinates of the depth pixels; determining global coordinates of the depth pixels according to the depth coordinates and a preset global coordinate system; determining positions of the depth pixels on the color image according to the global coordinates, determining color pixels corresponding to the positions on the color image; and obtaining the alignment image by merging each of the depth pixels with corresponding color pixel;
acquiring a plurality of target boxes corresponding to the plurality of detection boxes from the alignment image;
determining a plurality of depth values of the plurality of target boxes based on the alignment image, and determining a quantity of the plurality of target boxes; and
determining a height of the plant to be detected according to the plurality of depth values and the quantity of the plurality of target boxes.