An automatic measuring method for the trunk curvature of standing tree based on computer vision

For the automatic pruning of the standing trees by pruning robot,the automatic measuring of trunk curvature of standing tree is a key step.According to the characteristics of digital image of standing tree,this paper puts forward a computer vision-based automatic measuring method for trunk curvature of standing tree.The method includes four steps:the tree trunk image is detected by threshold segmentation;the edge of tree trunk is detected by Laplacian operator based on the tree trunk image filtered by median filtering method;the edge image of tree trunk is thinned based on the mathematical morphology;the last step is to fit the curve and compute the tree trunk curvature automatically.The experimental results indicate that the method is available for getting accurate tree trunk curvature.