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A branch 3D Skeleton extraction method based on SR4000 is proposed, which can be used for pruning robot visual recognition. In this method a 3D Skeleton model of the branches of apple trees in the initial fruit stage was successfully constructed. According to the experimental results, the average computational efficiency of the 2AHC(2-level Aggregation Hierarchy Clustering) is increased by 369%, the detection rate is 84.69%, and the error rate is 5.03%. The average detection rate of depth analytic hierarchy process was 64%; The overall 3D Skeleton restoration effect is better. Therefore, the algorithm can better reflect the qualitative relationship between branches, improve the computational efficiency, and provide algorithm support for automatic pruning robot visual recognition.

Research on 3D skeletal model extraction algorithm of branch based on SR4000