Recognition and location of fruits for apple harvesting robot

被引：0
|
作者：
Si Y. [1 ,2 ]
Qiao J. [3 ]
Liu G. [2 ]
Gao R. [2 ]
He B. [1 ,2 ]
机构：
[1] College of Information Science and Technology, Agricultural University of Hebei
[2] Key Laboratory of MOE on Modern Precision Agriculture System Integration Research, China Agricultural University
[3] Network Centre, China Agricultural University
来源：
Nongye Jixie Xuebao/Transactions of the Chinese Society of Agricultural Machinery | 2010年 / 41卷 / 09期
关键词：
Apple; Feature extraction; Harvesting robot; Image recognition; Machine vision; Stereo matching;
D O I：
10.3969/j.issn.1000-1298.2010.09.030
中图分类号：
学科分类号：
摘要：
An apple recognition method with normalized color difference (R-G)/(R+G) was presented. The apples in the images taken under different lighting conditions were recognized. Some pretreatments were applied to get contour images. The shape features of the apples were extracted from the contour images based on the method of random circle ring. A matching algorithm based on area feature and epipolar geometry was discussed to position the apples. The apples with similar areas were matched according to the principle of left-right order consistency by calculating the maximum value of cross-correlation function of vertical projections. The experiments results show that the proposed recognition method can eliminate influence of shade, and soil, to a certain extent. The recognition rate reaches 92%. The circle centers and radius are extracted precisely and rapidly based on the method of random circle ring. The errors are less than 2 cm when the measure distance is between 60 cm and 150 cm.
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页码：148 / 153
页数：5
相关论文
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