Three-dimensional morphological phenotypic extraction of carnichodidae based on end-to-end point cloud segmentation

DAI Zhiwen; CHEN Kangfei; CHANG Andai; SU Xiaojing; XIE Lei; YANG Qingyong; YANG Ruibin; XIONG Hao; ZHENG Fang

doi:10.13300/j.cnki.hnlkxb.2026.03.013

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Three-dimensional morphological phenotypic extraction of carnichodidae based on end-to-end point cloud segmentation

Agricultural artificial intelligence | 更新时间：2026-11-05

- Three-dimensional morphological phenotypic extraction of carnichodidae based on end-to-end point cloud segmentation
- Journal of Huazhong Agricultural University Vol. 45, Issue 3, Pages: 148-160(2026)
- 作者机构：
  
  1.华中农业大学信息学院，武汉 430070
  2.华电金沙江上游水电开发有限公司叶巴滩分公司，甘孜 62715
  3.华中农业大学水产学院，武汉430070
- 作者简介：
- 基金信息：
- DOI：10.13300/j.cnki.hnlkxb.2026.03.013
  CLC： TP391.4
- Received：29 September 2025，
  
  Published：25 May 2026
- 稿件说明：
移动端阅览
戴志文，陈康飞，常安代，等.基于端到端点云分割的鮡科鱼类三维形态表型提取［J］.华中农业大学学报，2026，45（3）：148‐160.

DAI Zhiwen,CHEN Kangfei,CHANG Andai,et al.Three-dimensional morphological phenotypic extraction of carnichodidae based on end-to-end point cloud segmentation[J].Journal of Huazhong Agricultural University,2026,45(03):148-160.
戴志文，陈康飞，常安代，等.基于端到端点云分割的鮡科鱼类三维形态表型提取［J］.华中农业大学学报，2026，45（3）：148‐160. DOI： 10.13300/j.cnki.hnlkxb.2026.03.013.

DAI Zhiwen,CHEN Kangfei,CHANG Andai,et al.Three-dimensional morphological phenotypic extraction of carnichodidae based on end-to-end point cloud segmentation[J].Journal of Huazhong Agricultural University,2026,45(03):148-160. DOI： 10.13300/j.cnki.hnlkxb.2026.03.013.

摘要

为实现鮡科鱼表型的高精度、自动化测量，解决二维图像处理的表型数据不够丰富立体及现有三维点云分割模型对复杂生物结构识别能力不足的问题，本研究以前臀鮡（

Pareuchiloglanis anteanalis

）为具体研究对象，提出一种适用于鮡科鱼类的端到端三维形态表型提取方法。该方法利用RGB相机采集的多视角图像序列，通过运动恢复结构（SfM）与多视图立体视觉（MVS）算法重建高保真三维点云模型。为有效分离目标与背景，设计了一种融合随机采样一致性（RANSAC）算法与HSV空间颜色特征的复合去噪方法，在保留鱼体细节的同时精确去除背景噪声。针对原始PointNet++网络特征提取不充分的问题，提出改进的PointNet++点云部件分割网络，通过引入基于密集连接的多层感知机DenseNet-MLP、点云三重注意力机制PTA和多尺度学习模块MSB，显著提升了模型对鱼体精细结构的分割性能。试验结果显示，MSE低于10e

-5

，PSNR均值为60.8，召回率平均值为93.33%。改进后的网络模型的平均交并比（mIoU）、总体精度（OA）和平均精确度（mAcc）评估指标分别达到了88.9%、95.5%、93.8%，相对原模型分别提升了3.5、1.4、1.6百分点。能够精确分割鱼头、鱼身及鱼鳍等关键部件。综上，本研究提出的方法可用于水产动物表型高通量、无接触式的精准测量。

Abstract

To achieve high-precision and automatic phenotypic measurement of carpenters，and address the limitations of insufficient phenotypic informations in two-dimensional image processing，as well as the inadequate recognition capability of existing three-dimensional point cloud segme

ntation models for complex biological structures.This study focuses on

Pareuchiloglanis anteanalis

and proposes an end-to-end point cloud segmentation-based method for extracting three-dimensional morphological phenotypes of sisorid fish.The proposed method reconstructed a high-fidelity 3D point cloud model from multi-view image sequences captured by an RGB camera using the structure from motion （SfM） and multi-view stereo （MVS） algorithms.To effectively separate the target from the background and retain detailed morphological features of the fish body，a hybrid denoising strategy is designed by integrating the random sample consensus （RANSAC） algorithm with HSV spatial color features，which enables accurate background noise removal while preserving fine fish body details.To overcome the insufficient feature extraction capability of the original PointNet++ network，an improved PointNet++ network for point cloud part segmentation is proposed.By incorporating densely connected multi-layer perceptron （DenseNet-MLP），a point triple attention mechanism（PTA），and a multi-scale learning module （MSB），the model’s segmentation performance for fine fish body structures was significantly enhanced.Experimental results demonstrated that the mean squared error （MSE） was below 10e-5，the average peak signal-to-noise ratio （PSNR） was 60.8，and the average recall rate was 93.33%.The improved network model achieved a mean intersection over union （mIoU） of 88.9%，an overall accuracy （OA） of 95.5%，and a mean accuracy （mAcc） of 93.8%，representing respective improvements of 3.5，1.4，and 1.6 percentage point compared with the original model.It can accurately segment key anatomical components such as the fish head，body，and fins.To sum up，the method proposed in this study can be used to accurately measure the phenotypic qualcomm of aquatic animals without contact.

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references

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