基于彩色信息的树上柑橘识别研究

为正确识别自然环境中的树上水果，从而为机械手的运动提供参数并完成水果的自动采摘，研究了基于彩色信息的树上柑橘识别方法。在对53幅含有各种背景情况的可见光彩色图像进行颜色特征提取和理解的基础上，建立了利用柑橘、树叶、树枝在R-B颜色指标上的差异进行树上柑橘识别的颜色模型，并利用动态阈值法，根据图像特征动态产生阈值T，将柑橘从背景中分割出来。分别在顺光条件和逆光条件下进行了试验分析，试验结果表明该识别模型可以实现对树上可见的柑橘的识别，并适用于单个和多个果实的识别，正确识别率较高。

Identification of citrus fruit in a tree canopy using color information

In order to guide the robots for harvesting citrus fruit, a method based on color image processing was developed to identify citrus fruit in the tree canopy. Fifty-three color images with natural citrus-grove scenes were analyzed using the range of interest(ROI) tool. And the color properties of target objects (citrus fruit, leaves, or branches) were extracted. The values of R subtracted by B of citrus fruit are different from those of leaves and branches. A rule for segmenting citrus fruit from background is put forward that the pixel belongs to citrus fruit if the value of R subtracted by B is larger than the threshold value (T), which is decided by dynamic threshold segmentation method, otherwise the pixel belongs to background. The results show that the visible fruits under direct sunlight or backlighting condition can be identified well using this method.