Automatic recognition vision system guided for apple harvesting robot

被引：176

作者：

Ji, Wei ^{[1
]}

Zhao, Dean ^{[1
]}

Cheng, Fengyi ^{[1
]}

Xu, Bo ^{[1
]}

Zhang, Ying ^{[1
]}

Wang, Jinjing ^{[2
]}

机构：

[1] Jiangsu Univ, Sch Elect & Informat Engn, Zhenjiang 212013, Peoples R China

[2] Chinese Acad Agr Mechanizat Sci, Beijing 100083, Peoples R China

来源：

COMPUTERS & ELECTRICAL ENGINEERING | 2012年 / 38卷 / 05期

基金：

高等学校博士学科点专项科研基金; 国家高技术研究发展计划(863计划);

关键词：

SUPPORT VECTOR MACHINES; SEGMENTATION;

D O I：

10.1016/j.compeleceng.2011.11.005

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

In apple harvesting robot, the first key part is the machine vision system, which is used to recognize and locate the apples. In this paper, the procedure on how to develop an automatic recognition vision system guided for apple harvesting robot, is proposed. We first use a color charge coupled device camera to capture apple images, and then utilize an industrial computer to process images for recognising fruit. Meanwhile, the vector median filter is applied to remove the color images noise of apple, and images segmentation method based on region growing and color feature is investigated. After that the color feature and shape feature of image are extract, a new classification algorithm based on support vector machine for apple recognition is introduced to improve recognition accuracy and efficiency. Finally, these procedures proposed have been tested on apple harvesting robot under natural conditions in September 2009, and showed a recognition success rate of approximately 89% and average recognition time of 352 ms. Crown Copyright (c) 2011 Published by Elsevier Ltd. All rights reserved.

引用

页码：1186 / 1195

页数：10

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