Cattle Body Size Measurement Based on DUOS–PointNet++

The common non-contact, automatic body size measurement methods based on the whole livestock point cloud are complex and prone to errors. Therefore, a cattle body measuring system is proposed. The system includes a new algorithm called dynamic unbalanced octree grouping (DUOS), based on PointNet++, and an efficient method of body size measurement based on segmentation results. This system is suitable for livestock body feature sampling. The network divides the cow into seven parts, including the body and legs. Moreover, the key points of body size are located in the different parts. It combines density measurement, point cloud slicing, contour extraction, point cloud repair, etc. A total of 137 items of cattle data are collected. Compared with some of the other models, the DUOS algorithm improves the accuracy of the segmentation task and mean intersection by 0.53% and 1.21%, respectively. Moreover, compared with the manual measurement results, the relative errors of the experimental measurement results are as follows: withers height, 1.18%; hip height, 1.34%; body length, 2.52%; thoracic circumference, 2.12%; abdominal circumference, 2.26%; and cannon circumference, 2.78%. In summary, the model is proven to have a good segmentation effect on cattle bodies and is suitable for cattle body size measurement.