A Recognition Method of Tomato Plant Stem Edge Based on Edge Dual Relationship

Abstract

The invention discloses a tomato plant stalk edge recognition method based on the edge dual relationship. First, image segmentation is performed on the collected tomato plant color image, and the continuous edge of the tomato plant is directly extracted from the binary image, and the extracted tomato plant edge is denoised, and then the tomato plant edge is sorted, and the tomato plant edge is further analyzed. Edge type identification based on Tl neighborhood filtering, short edge segment filtering and edge segmentation were carried out, and finally tomato stem edge pairs were extracted from the segmented tomato plant edges based on the dual relationship between edges. The application of the present invention can realize the recognition of the edge of tomato plant stems with close-colored branches and leaves, and can provide the required image of tomato plant stems for spraying tomato plants on targets, picking in clusters by tomato production robots, automatic navigation, automatic obstacle avoidance, etc. location and size information.

Description

technical field [0001] The invention relates to a tomato plant stalk edge recognition method, in particular to a tomato plant stalk edge recognition method based on an edge dual relationship. Background technique [0002] Tomato production robots can better solve the problems of shortage of labor resources and high labor costs in current tomato production. The main function of the tomato production robot vision system is to realize the identification and three-dimensional positioning of each component organ of the tomato plant. Among them, the recognition of the edge of the tomato plant stem can provide the necessary position and size information of the tomato plant stem in the image for the automation of the tomato production process, such as automatic target spraying, cluster picking, obstacle avoidance, navigation, etc. , so it has very important application value. [0003] The current identification methods of fruit and vegetable stems can be divided into identificatio...

AI Technical Summary

Problems solved by technology

Since this method is mainly based on the color difference between the stems of fruit and vegetable plants and other organs and the background to realize the recognition of the stems of fruit and vegetable plants, it is more suitable for the identification of stems of fruit and vegetable plants with different colors of branches and leaves, but this method is difficult to achieve such as tomato plants. Recognition of stems of fruit and vegetable plants with close-colored branches and leaves

Although the recognition of the stems of fruit and vegetable plants with close-colored branches and leaves is currently based on color images, the recognition of the main stems of fruit and vegetable plants is mainly based on the identification of the support lines of the main stems. Its application is limited and it can only realize the identification of the main stems

Images