Fruit, branch and leaf region obtaining method of red apple images in garden

Abstract

The invention discloses a fruit branch and leaf region obtaining method of red apple images in a garden. The method comprises steps of 1: acquiring apple RGB images; 2: obtaining fruit images: extracting R-G chromatic aberration images from the RGB images, successively carrying out corrosion operation, hole filling, small region removing and open operation on the R-G chromatic aberration images and finally carrying out threshold segmentation; 3: obtaining leaf images: subtracting the fruit images from the RGB images, extracting 2G-R-B chromatic aberration images from the subtracted images and carrying out small region removing and threshold segmentation; and 4: obtaining branch images: carrying out dynamic threshold segmentation on the R-G chromatic aberration images, adding the segmented images into the obtained fruit images to obtain fruit addition images, then subtracting the fruit addition images and the leaf images from the RGB images, extracting R-G chromatic aberration images from the subtracted images and then carrying out open operation, small region removing and threshold segmentation. According to the invention, the method lays a foundation for precise fruit identification and positioning, effective obstacle avoidance and successful picking for following picking robots.

Description

technical field [0001] The invention belongs to the technical field of image processing, and relates to a method for acquiring fruit branches and leaves of an apple image, in particular to acquiring the fruit branches and leaves of an orchard red apple image. Background technique [0002] my country is a large agricultural country, and the fruit industry is the third largest industry in the planting industry after grain and vegetables. Apple is one of the four major fruits in the world. In recent years, my country's apple industry has developed particularly rapidly, with the rapid expansion of planting area and output, which has formed a scale advantage and continues to grow. However, in the process of apple planting and production, apart from the semi-mechanized spraying, fruit picking is an important part. At present, it is basically manual work, which is labor-intensive, takes a long time, and has certain risks. On the other hand, a large number of farmers in our countr...

AI Technical Summary

Problems solved by technology

However, the target area information obtained by the current existing methods, especially the fruit area information is not complete enough, which affects the accuracy of subsequent fruit identification, and cannot effectively avoid obstacles and affect the success rate of fruit picking.

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