Real-time Tree Model Reconstructing for Fruit Harvesting Robot System
Based on OpenGL, the real-time reconstruction of the fruit trees model was built. The shape of trees trunk and branch, which are the main obstacles for harvesting task in a fruit harvesting robot system, can be simplified as a combination of different cylinder modules overlap in the obstacle-avoidance. Even at the branch node, the module can be used. The cylinder perspective law is employed to get the cylinders diameter. Supported by on-line image-gathering and analyzing system, the cylinder diameters coordinate is easier to get. Calculate the coordinate value of points which divide the circle into 12 equal parts, and then use polygonal approximation to construct the modules. Eventually the whole tree is reconstructed to supply farther work of obstacle-avoidance with virtual scene. The experimental results illustrated that, for the mid-complicated tree modeling, the reconstruction method can yield a real-time model.
Real-time Model Reconstruction OpenGL Polygonal Approximation.
Wenli Zhang Yongping Li
The school of Art Education, Jiangsu University, Jiangsu, P. R. China
国际会议
昆明
英文
580-584
2008-11-22（万方平台首次上网日期，不代表论文的发表时间）