Design of structured-light vision system for tomato harvesting robot

作     者：Feng Qingchun Cheng Wei Zhou Jianjun Wang Xiu 

作者机构：Beijing Research Center of Intelligent Equipment for AgricultureBeijing 100097China Zhejiang University of TechnologyHangzhou 100085China 

基　　金：the National High Technology Research and Development Program of China(2013AA100307) 

出 版 物：《International Journal of Agricultural and Biological Engineering》 (国际农业与生物工程学报（英文）)

年 卷 期：2014年第7卷第2期

页      码：19-26页

摘      要：In order to improve the operating precision of the harvesting robot,a vision system for intelligently identifying and locating the mature tomato was *** active detection method based on structured-light stereo vision was expected to deal with the problem of variable illumination and target occlusion in the *** maximum between-cluster variances of hue(H)and saturation(S)value were adopted as the threshold for color segmentation,which weakened the impact on the image caused by the light intensity *** the limit on the pixel size and circularity of the candidate areas,the vision system recognized the fruit area and removed the noise *** fruit’s 3D position was computed on the basis of spatial relationship between the laser plane and the camera,when the linear laser was projected on the centre area of the mature *** blue view-scanning laser stripe pixels on the mature fruit were extracted according to its Cb color *** the field test results show,the measurement error on the fruit radius is less than 5 mm,the centre distance error between the fruit and camera is less than 7 mm,and the single axis coordinate error is less than 5.6 *** structured-light vision system could effectively identify and locate mature fruit.

主 题 词：harvesting robot tomato linear structure-light 3D measurement feature extraction 

学科分类：080901[080901] 0809[工学-计算机类] 08[工学] 080401[080401] 0804[工学-材料学] 0803[工学-仪器类] 

核心收录：

D　O　I：10.3965/j.ijabe.20140702.003

馆 藏 号：203264378...