Recognition and location method for apple on tree based on TOF camera

A TOF camera and positioning method technology, applied in the field of image recognition, can solve the problems of poor real-time performance, high cost, and cannot be widely used, and achieve the effect of high positioning accuracy, fast imaging speed and high resolution

Inactive Publication Date: 2017-07-14
JIANGSU UNIV
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Problems solved by technology

Although this technology has high positioning accuracy, it cannot

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  • Recognition and location method for apple on tree based on TOF camera
  • Recognition and location method for apple on tree based on TOF camera
  • Recognition and location method for apple on tree based on TOF camera

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Embodiment Construction

[0036] The method of the present invention will be further described below in conjunction with the accompanying drawings. This embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation is given. It should be emphasized that the following descriptions are only illustrative, and not intended to limit the scope and application of the present invention.

[0037] Such as figure 1 As shown, the embodiment of the present invention uses the image collected by the TOF camera as an example to illustrate a method for identifying and locating apples on a tree based on the TOF camera. The specific process is as follows:

[0038] Step 1: Obtain the system-corrected depth map and the intensity map representing the amplitude of reflected light through the real-time acquisition and processing program of the computer, and preprocess the image. Through the formula (1), the depth information from each test point to the camera plan...

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Abstract

The invention discloses a recognition and location method for an apple on the tree based on a TOF camera. According to the technical scheme, the three-dimensional imaging technology of the TOF camera with the resolution of 1280 (h)*1024 (v) and the model of OI-VS-1000 is used to acquire the reflected light intensity image and depth image of the apple, and the image is pre-processed; a selective contrast enhancement algorithm is used to improve the depth image; a morphological filtering algorithm is used to filter out noise in the depth map; a target fruit region and a background region are divided by a regional splitting and merging algorithm; a Canny operator is used to extract the boundary; circle detection is carried out on a boundary image by shape location Hough transform in the image to acquire a fruit circle and the center position; and the location technology of the three-dimensional database of the TOF camera is combined to extract the three-dimensional coordinates of each fruit center to acquire the actual radius value of the fruit, so as to recognize and locate the apple.

Description

technical field [0001] The invention relates to a method for identifying and locating apples on a tree based on a TOF camera, and belongs to the technical field of image recognition. Background technique [0002] my country is a large apple-growing country with a vast planting area and a high-speed growth in annual apple production. Therefore, intelligent and information-based plant-related detection technology has emerged as the times require, and the complete segmentation of plant fruits is the basis of related algorithms and is also the basis of computer vision. One of the core research topics in the field. With the increase in market demand, apples are planted in large areas. In order to pick ripe apples in time, one of the important ways to solve the above problems is the application of apple picking robots. [0003] Machine vision is the largest source of external environmental information for picking robots, and its main tasks include picking target identification, po...

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Application Information

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IPC IPC(8): G06K9/46G06T5/00G06T7/13
CPCG06T5/00G06T5/002G06T2207/30188G06T2207/20024G06T2207/10012G06V10/44
Inventor 姬伟孟祥利许波钱志杰唐伟赵德安
Owner JIANGSU UNIV
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