PlantStereo: A High Quality Stereo Matching Dataset for Plant Reconstruction

Abstract

Stereo matching is a depth perception method for plant phenotyping with high throughput. In recent years, the accuracy and real-time performance of the stereo matching models have been greatly improved. While the training process relies on specialized large-scale datasets, in this research, we aim to address the issue in building stereo matching datasets. A semi-automatic method was proposed to acquire the ground truth, including camera calibration, image registration, and disparity image generation. On the basis of this method, spinach, tomato, pepper, and pumpkin were considered for experiment, and a dataset named PlantStereo was built for reconstruction. Taking data size, disparity accuracy, disparity density, and data type into consideration, PlantStereo outperforms other representative stereo matching datasets. Experimental results showed that, compared with the disparity accuracy at pixel level, the disparity accuracy at sub-pixel level can remarkably improve the matching accuracy. More specifically, for PSMNet, the EPE and bad−3 error decreased 0.30 pixels and 2.13%, respectively. For GwcNet, the EPE and bad−3 error decreased 0.08 pixels and 0.42%, respectively. In addition, the proposed workflow based on stereo matching can achieve competitive results compared with other depth perception methods, such as Time-of-Flight (ToF) and structured light, when considering depth error (2.5 mm at 0.7 m), real-time performance (50 fps at 1046 × 606), and cost. The proposed method can be adopted to build stereo matching datasets, and the workflow can be used for depth perception in plant phenotyping.

Plant phenotyping relevance

植物フェノタイピング用のステレオマッチングデータセット構築法を開発し、精度・性能を検証した研究であり、表現型取得手法が中心である。

Code and data availability

植物フェノタイピング解析を再現する公開資産であることを、入力本文と直接リンクから確認できなかったため保留しました。

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