Fruit tree skeleton extraction method based on three-dimensional reconstruction

The invention discloses a fruit tree skeleton model construction method based on a three-dimensional reconstruction model. The method comprises the following steps that: a Kinect V2 camera calibration acquisition platform adopts a Kinect v2 sensor and other sensors to acquire a full-range point cloud of a fruit tree in a key growth period; extracting a target point cloud through point cloud preprocessing operation, and extracting structure invariant features of the target point cloud; the three-dimensional model is perfected by combining RANSAC and IWOA algorithms, and the spatial position is recorded; a Delaunay triangulation algorithm and a Dijkstra shortest path algorithm are used to calculate the fruit tree MST; a Kd-tree data structure is adopted to carry out spatial neighbor search and rapid branch segmentation; a full fruit tree skeleton model is obtained by using a Levenberg Marquardt algorithm and cylinder fitting; according to the invention, the high-precision fruit tree three-dimensional reconstruc