农业工程学报2008，Vol.24Issue(10)：89-94,6.
用于草莓收获机器人的果实定位和果柄检测方法
Fruit location and stem detection method for strawberry harvesting robot
摘要
Abstract
A fruit localization and stem detection method for strawberry harvesting robot was introduced in this paper. OHTA color space based image segmentation algorithm was utilized to extract strawberry image from background; principal inertia axis of binary strawberry blob was calculated to define the pose of fruit. Strawberry was picked selectively according to its ripeness.Experimental results show that the average time of fruit localization is one second, the stem detection failure rate is 7% and fruit injury rate is 5%, which satisfy the speed and accuracy requirements of strawberry harvesting robot.关键词
农业机器人/机器视觉/草莓收获机器人/果柄检测Key words
agricultural robot/machine vision/strawberry harvesting robot/stem detection分类
信息技术与安全科学引用本文复制引用
郭峰,曹其新,崔永杰,永田雅辉..用于草莓收获机器人的果实定位和果柄检测方法[J].农业工程学报,2008,24(10):89-94,6.基金项目
Appreciation is extended to the Japanese Ministry of Education and to the University of Miyazaki for providing support and facilities for the conduct of research. To the research group working in the Professor Nagata's laboratory, we appreciate them and thank a lot. （）
