Image recognition method of ripe citrus fruit

Abstract

The invention discloses a method for recognizing an image of a citrus fruit at a ripening stage, comprising the steps of: collecting an image and cutting it; converting the cut image into a black-and-white binary image and removing black holes and white pseudo-targets for blackening; The citrus fruit contour width is single-pixelized, and the fruit contour coordinates in the marked area are read to obtain a fruit contour coordinate matrix; a citrus fruit contour coordinate set arranged in a clockwise direction is formed; the intersection points of different fruit contours are found to form a citrus fruit contour intersection point set; Select the unobstructed citrus fruit contour in each connected area and the unobstructed elliptical arc segment in the partially occluded citrus fruit contour; curve fitting, discard the false fruit target and remove the overfitting curve; calculate the curve parameters. The present invention is insensitive to the angle of image acquisition, ensures the accuracy of the contour extraction of the occluded fruit area, meets the requirement of simultaneously detecting the round fruit and the oval fruit when the fruit contour is restored, and can detect partially occluded and unoccluded fruits at the same time.

Description

technical field [0001] The invention particularly relates to a method for image recognition of citrus fruits in ripening stage. Background technique [0002] The real-time online identification of fruits on trees is one of the core technologies of fruit harvesting robots, and it is also a basic problem of fruit information management. Rapid identification of occluded fruits is the first difficult problem to overcome in these problems. [0003] The machine recognition of fruits on trees mainly includes three steps: extraction of unobstructed fruit area contour segments, restoration of fruit contours, and calculation of fruit position and size parameters. The previous methods are greatly affected by lighting conditions and image acquisition angles in the contour extraction process. , and at the same time there is the limitation of a single property curve when the fruit contour is restored. SUMMARY OF THE INVENTION [0004] The purpose of the present invention is to, in view...

AI Technical Summary

Problems solved by technology

[0003] Machine recognition of fruits on trees mainly includes three steps: extraction of unoccluded fruit area contour segments, restoration of fruit contours, and calculation of fruit position and size parameters. The previous methods are greatly affected by lighting conditions and image acquisition angles in the contour extraction process. , at the same time, there is the limitation of single property curve when fruit outline is restored

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