Authors

Abstract

Body size of pigs is an important evaluation indicator in pig breeding. The traditional method of body size measurement is usually in manual way, which requires more employees and causes stress reactions of pigs. In response to the shortcomings of the traditional methods, this paper designed a system for measuring the body size of pigs based on stereo vision. The point cloud of both the calibration object and the pig was collected using dual KinectV2 cameras. Pre-processing was conducted using filtering and random sample consensus to remove background noise from the point clouds. As there was limited overlap between the two sides of the point clouds, the rotation matrix obtained from registering the calibration object was applied to the pig point clouds. Curve fitting and slicing were then utilized to measure the pig's body dimensions, including length, width, height, and abdominal circumference. The results of the study indicated that the mean absolute percentage error (MAPE) was 2.13% for body length, 1.02% for body width, 1.05% for body height, and 2.21% for abdominal girth. These results demonstrate the high accuracy and practical production value of the system.

Abstract in Chinese

生猪的体尺参数是生猪养殖情况的重要评判指标，传统的猪只体尺参数采集测量使用直接接触式的测量方法，需要员工多、场地要求较大，易造成猪只的应激反应。针对传统方法的缺陷，本文设计了一种基于立体视觉的猪只体尺测量系统。该系统利用双KinectV2相机采集标定物与猪只点云，对采集的点云进行去噪和分割得到无背景的标定物与猪只点云；由于猪只点云重合度低、特征不明显导致配准难度大，因此利用标定物先进行配准，输出旋转矩阵用于猪只点云配准；最后利用曲线拟合与切片处理技术测定包括体长、体宽、体高、腹围。试验结果表明, 猪只体长测量平均相对误差为2.13%，体宽测量平均相对误差为1.02%，体高测量平均相对误差为1.05%，腹围测量平均相对误差为2.21%。该系统具有较高的估算准确性，在实际生产中有重要意义。