Hierarchical Denoising Method of Crop 3D Point Cloud Based on Multi-view Image Reconstruction

  • Lei Chen
  • Yuan YuanEmail author
  • Shide Song
Conference paper
Part of the IFIP Advances in Information and Communication Technology book series (IFIPAICT, volume 545)


Since the advantages of low cost and high efficiency, the three dimensional point cloud reconstruction based on multi-view image sequence and stereo matching has been widely used in agriculture. However, the reconstructed three dimensional point cloud often contains a lot of noise data because of the complex morphology of crop. In order to improve the precision of three dimensional point cloud reconstruction, the paper proposed a hierarchical denoising method which first adopts the density clustering to deal with the large scale outliers, combined with crop morphology analysis, and then smooths the small scale noise with fast bilateral filtering. Two crops of rice and cucumber were taken to validate the method in the experiments. The results demonstrated that the proposed method can achieve better denoising results while preserving the integrity of the boundary of crop 3D model.


Denoising 3D point cloud Multi-view Image processing Crop 



The work is supported by the National Natural Science Foundation of China under No. 31501223 and No. 31871521.


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Copyright information

© IFIP International Federation for Information Processing 2019

Authors and Affiliations

  1. 1.Institute of Intelligent MachinesChinese Academy of SciencesHefeiChina
  2. 2.School of MicroelectronicsUniversity of Chinese Academy of SciencesBeijingChina

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