Outdoor tomato identification method based on subsection threshold image segmentation and light spot identification

A segmentation threshold and identification method technology, applied in the field of image processing, can solve the problems of the adaptability, real-time performance, and the price cannot meet the production requirements of the outdoor fruit identification method.

Active Publication Date: 2013-06-26
ZHEJIANG UNIV
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Problems solved by technology

[0005] The adaptability, real-time performance and price of the existing o

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  • Outdoor tomato identification method based on subsection threshold image segmentation and light spot identification
  • Outdoor tomato identification method based on subsection threshold image segmentation and light spot identification
  • Outdoor tomato identification method based on subsection threshold image segmentation and light spot identification

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Embodiment Construction

[0040] The present invention will be further described below in conjunction with drawings and embodiments.

[0041] figure 1 A specific embodiment of the outdoor tomato real-time identification system is illustrated. The image receiving device adopts a binocular stereo camera 2 (the stereo camera can obtain the 3D position information of the target, which is considered for obtaining the 3D position information of the tomato in the future), and the binocular stereo camera 2 includes 2 color Sony ICX204CCDs with a maximum resolution of 1024× 768, the focal length of the lens is 6mm. Image acquisition card 4 model is MOGE1394, with power adapter, power supply 3 is used to power the camera (when there is no 220V power supply, battery can also be used). Computer 5 is a Lenovo R400 laptop with 3G memory, Intel Core Duo T6570 CPU, and WIN7 operating system. Use the 1394 connection line to connect the binocular stereo camera 2 with the 1394 image acquisition card 4, and the 1394 im...

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Abstract

The invention discloses an outdoor tomato identification method based on subsection threshold image segmentation and light spot identification. The method includes: after normalized color difference Cd and color component ratio rGB are calculated, subsection threshold image segmentation is utilized to realize tomato non-light-spot area segmentation Rr; a light spot area segmentation algorithm is used to extract a candidate tomato light spot area Rb, and Rr and Rb form an initial tomato area Rt; area marking and denoising are performed to Rt; calculating area At of the initial tomato area and area Ab of the candidate tomato light spot area; in the same tomato area, if Ab is smaller than one third of At, Rb is reserved at the tomato area, otherwise Rb is reckoned as a background light spot area and removed, and only Rr is reserved; and area marking and denoising are performed to the finally obtained tomato area. Subsection threshold image segmentation and light spot identification are combined to overcome influences of natural light variation, and real-time fruit identification under different lighting conditions is achieved.

Description

technical field [0001] The invention relates to an image processing method, in particular to an outdoor tomato recognition method based on segmentation threshold image segmentation and spot recognition. Background technique [0002] The fruit and vegetable picking robot is a solution to realize the automatic picking operation, and the fruit recognition based on machine vision is a means for the fruit and vegetable picking robot to obtain the picking target information. [0003] Since the fruit and vegetable picking robot works outdoors, and the outdoor ambient light changes drastically, fruit recognition is easily affected by changes in ambient light. The image receiving device in the existing outdoor fruit recognition system has a certain dynamic response range. If the light intensity exceeds the dynamic response range (too strong or too weak light), light spots or dark areas will be generated in the image. In some cases , two types of lighting conditions will appear in th...

Claims

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Application Information

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IPC IPC(8): G06T7/00G06T5/00
Inventor 应义斌项荣蒋焕煜饶秀勤
Owner ZHEJIANG UNIV
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