Tree apple recognition method based on depth image

A deep image and fruit recognition technology, applied in the field of image recognition, can solve the problems of fruit recognition rate and positioning accuracy limitation, uncertainty of lighting conditions, etc., to achieve the effect of facilitating target recognition, improving visual effects, and suppressing useless information

Inactive Publication Date: 2012-12-19
CHINA AGRI UNIV
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Problems solved by technology

Most of the existing vision systems use CCD cameras as the key components. Due to the variability, unknownness, openness and other non-structural characteristics of the picking environment, especially the uncertainty of lighting conditions, the recognition rate and positioning accuracy of fruits are limited. certain restrictions

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  • Tree apple recognition method based on depth image
  • Tree apple recognition method based on depth image
  • Tree apple recognition method based on depth image

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Embodiment Construction

[0036] The preferred embodiments will be described in detail below in conjunction with the accompanying drawings. It should be emphasized that the following description is only exemplary and not intended to limit the scope of the invention and its application.

[0037]In the embodiment of the present invention, a depth image of an apple on a tree is taken as an example to illustrate a method for recognizing apples on a tree based on a depth image. The specific plan is as follows:

[0038] Step 1: Use the laser vision system of the apple picking robot to scan the fruit trees to obtain a large amount of distance data of the fruit trees, convert the distance data into gray values ​​by formula (1), and generate the corresponding depth images. Such as figure 2 shown.

[0039] Step 2: In order to improve the visual effect of the depth image and suppress useless information, a selective contrast enhancement method is used. Since the large range of gray values ​​in the image hist...

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Abstract

The invention discloses a tree apple recognition method based on a depth image in the technical field of image recognition. According to the technical scheme, the tree apple recognition method comprises the steps of: scanning an apple tree by using an apple picking robot laser vision system and generating a corresponding depth image; realizing layer-by-layer segmentation of a target region by combining with change characteristics of depth information from the center to the edge of the fruit in the image to obtain one or more binary images; and calculating the circularity of each communicating region in the one or more binary images and the area ratio of the areas of the communicating region to the maximum area, and through restraining the relative shape parameter, accurately recognizing the fruit.

Description

technical field [0001] The invention belongs to the technical field of image recognition, in particular to a method for recognizing apples on trees based on depth images. Background technique [0002] At present, my country's agricultural mechanization plays an increasingly prominent role as the main force in agricultural production, effectively ensuring the progress and quality of agricultural production. Among them, the agricultural robot is the most intelligent agricultural machinery, and its appearance and application have opened up a broader prospect for the development of modern agriculture. The development of agricultural robot technology will help improve the level of intelligent equipment for agricultural machinery in my country and improve the current agricultural operation mode in our country. [0003] Apple is one of the four major fruits in the world. Harvesting and picking account for about 40% of the entire production. The quality of picking directly affects ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00
Inventor 刘刚冯娟任雯周薇
Owner CHINA AGRI UNIV
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