Tea leaf picking point detection method based on light field camera

The invention provides a tea leaf picking point detection method based on a light field camera. Relates to the field of agricultural intellectualization. The method comprises the following specific steps: (1) acquiring 4D light field data by using a light field camera; and step (2), realizing coarse positioning of the tender shoot area of the tea leaves under low resolution. And (3) performing small depth-of-field digital refocusing on the tender shoot part of the tea. And (4) applying a super-resolution algorithm to the refocusing part to obtain a high-resolution tea leaf tender shoot image. And step (5), using a rotation target detection algorithm based on an improved IoU calculation method to detect tea leaf stalk parts. And (6) performing three-dimensional reconstruction on the tea stalks. And step (7), performing stalk point cloud matching based on a PPF algorithm to obtain tea leaf tender shoot picking points. According to the method, the light field camera is used as data acquisition equipment, the cha