An in-situ measurement method of adherent mushroom vision based on RGB-D camera

Abstract

The invention discloses an in-situ measurement method of adherent mushroom vision based on RGB-D camera; The RGB-D camera continuously collects the depth video stream; dynamic threshold segmentation is performed on each acquired depth image to remove the soil background, extract the mushroom connected domain and smooth the edge; and use the eight-neighbor tracking method for the extracted mushroomconnected domain Sequence traversal of its boundary contour, preliminary detection of its center and radius based on circular fitting, sequential extraction of boundary points within 1.3 times radiusaround the center of the circle and conversion to polar coordinates, denoising between the found adhesion points, Interpolation, in order to obtain the two-dimensional coordinates of the boundary contour of the single mushroom; calibrate the camera coordinate system, verify the accuracy of the in-situ measurement method based on the ceramic circular plate, and calculate the position, diameter, and deviation angle of the single mushroom in the camera world coordinate system . The method of the invention can accurately and quickly identify adhered round-like mushrooms, and the picking robot hashigh coincidence degree, short running time and high real-time performance.

Description

technical field [0001] The invention relates to the field of machine vision, in particular to an image recognition and measurement algorithm of a fruit and vegetable picking robot, in particular to a visual in-situ measurement method for quasi-round mushrooms. Background technique [0002] Factory-grown mushrooms are rich in nutrients. Since the market price of mushrooms is related to their size, it is necessary to selectively pick mushrooms. Workers climb up and pick them day and night. The labor intensity is high. It is urgent to study a mushroom that can replace workers. Intelligent mushroom picking robot equipment for in-situ online measurement and picking. [0003] The factory mushroom planting environment is humid, and the light is dim and uneven. There are 2 mushroom racks in each mushroom room, each mushroom rack has 6 layers, and each layer has 18 mushroom beds. The picking robot automatically slides along the mushroom racks, Docking and lifting next to the mushroo...

AI Technical Summary

Problems solved by technology

In the application research of mushroom positioning, measurement, maturity and damage discrimination, the measurement of mushroom size based on two-dimensional image coordinate system and ellipse fitting is inaccurate.

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