农机化研究Issue(12)：217-221,226,6.
西红柿采摘机器人视觉系统的研究
Research on Tomato-harvesting Robot Visual System
摘要
Abstract
Aimed at the problem of low recognition rate of fruit picking robots ,design a set of binocular stereo vision sys-tem is used to identify and locate tomato , provide more favorable conditions of picking robot operation .The Bumblebee binocular stereo vision system , the identification of visual system is developed through the difference between the color characteristics of ripe tomatoes and plant .after camera calibration , feature point extraction and feature points matching , the space coordinates is obtained through 3 D reconstruction .The experiment results show that the identification rate of the vision system can reach 99%,and identification average time is about 0.15s,the absolute error of distance-measuring can be controlled within 10mm.It can meet the needs of practical work very well .关键词
农业机器人/双目立体视觉/相机标定/特征点提取/特征点匹配/三维重建/定位Key words
agricultural robot/binocular stereo vision/camera calibration/feature point extraction/feature points matc-hing/3 dreconstruction/location分类
农业科技引用本文复制引用
郭凯敏,崔天时,张桢,郭志强,朱铁欣,谢学刚..西红柿采摘机器人视觉系统的研究[J].农机化研究,2016,(12):217-221,226,6.基金项目
国家“863计划”项目 （）
