农机化研究2016，Vol.38Issue(5)：232-236,241,6.
基于Kinect传感器的猕猴桃果实空间坐标获取方法
A Method of Acquiring Kiwi Fruit Coordinate in Space Based on Kinect
摘要
Abstract
Considering the problems to acquire spatial coordinates of fruit during Kiwi fruit picking robot harvesting, a method is proposed to obtain the spatial coordinates of kiwi fruit based Kinect.This method can obtain the Kiwifruit spa-tial coordinates accurately.Kinect infrared projector and infrared cameras was used to obtain the depth of image, and Col-or camera for RGB images.According to corresponding relationship between color and the depth image, the depth of the coordinate could be obtained.Then, map depth point to skeleton point function was used to get Spatial coordinate system coordinates for the origin of the infrared camera.Experiments show that this method can effectively obtain the spatial co-ordinates of kiwi fruit, positioning error less than 2mm.关键词
采摘机器人/猕猴桃/Kinect传感器/深度图像/空间坐标Key words
harvesting robot/kiwi fruit/Kinect sensor/the depth of image/spatial coordinate分类
农业科技引用本文复制引用
王滨,陈子啸,傅隆生,苏宝峰,崔永杰..基于Kinect传感器的猕猴桃果实空间坐标获取方法[J].农机化研究,2016,38(5):232-236,241,6.基金项目
国家自然科学基金项目(61175099) （61175099）
