Identification of fruit existence in plant canopy

The object of the present study is to develop the algorism capable recognizing some sorts of particular fruits and vegetables, for the robots being operated in farm working, by using the images obtained from the visual sensors mounted thereon. In the researches reported up to the present, recognitions of fruits, by utilizing the difference of the reflectance spectroscopic characteristics between the fruits and plants(1) portions other than the fruits themselves in question, have been studied. In these cases, special types of filters and need, and moreover, the particular filters, best suited for each sort of the various harvests, are required. Therefore, in the present report, by means of the recognition algorithms using the image processing techniques not requiring special pre-processing procedures, recognition experiments of tomatoes were carried out.