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Effects of Waterlogging and Shading at Jointing and Grain-Filling Stages on Yield Components of Winter Wheat Read chapter Read first chapter

2016 | OriginalPaper | Chapter

Recognition and Localization Method of Overlapping Apples for Apple Harvesting Robot

Authors : Tian Shen, Dean Zhao, Weikuan Jia, Yu Chen

Published in: Computer and Computing Technologies in Agriculture IX

Publisher: Springer International Publishing

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Abstract

In order to meet the speed requirements of harvesting robot, a method of tracking and recognition of overlapping apples is proposed in this paper. First of all, the first image should be segmented and denoised, the center and the radius is determined, the template which is used for matching is extracted according to the center and radius. Then, determine the center of ten images which are taken continuously, fit motion path of the robot according to the center of each image and predict subsequent motion path. The next processing area is determined according to the radius and predicted path. Finally, overlapping apples are identified by fast normalized cross correlation match method. Experiments prove that the new method can locate the center and radius of overlapping apples correctly. Besides, matching time is reduced by 48.1 % compared with the original one.

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Metadata
Title
Recognition and Localization Method of Overlapping Apples for Apple Harvesting Robot
Authors
Tian Shen
Dean Zhao
Weikuan Jia
Yu Chen
Copyright Year
2016
Book
Computer and Computing Technologies in Agriculture IX

Print ISBN: 978-3-319-48353-5

Electronic ISBN: 978-3-319-48354-2

Copyright Year: 2016

DOI
https://doi.org/10.1007/978-3-319-48354-2_34

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