Research on Trunk and Branch Recognition Method of Apple Harvesting Robot

摘要：

In order to provide fairly perfect environment information for automatic navigation and harvesting obstacle avoidance of apple harvesting robot, the trunk and branch of apple harvesting robot was studied. The most effective multiple segmentation method of trunk and branch was selected after the discussing and comparison, then the morphological closed operation and holes filling operation were executed, the central axis that is the main characteristics of trunk and branch that was extracted through skeletonizing method and removing subbranch method based on different templates. Finally, the tests about recognition effect and recognition time for trunk and branch were done, the detecting rate was 95％, and the recognition average time was less than Is.

关键词： Apple Harvesting robot Image segmentation Image recognition

作者: Jidong Lv De-an Zhao Wei Ji Yu Chen Ying Zhang

作者单位: School of Electrical and Information Engineering, Jiangsu University Zhenjiang, China School of Electrical and Information Engineering,Jiangsu University Zhenjiang, China

会议类型: 国际会议

会议名称: 2012 International Conference on Measurement,Information and Control(2012测量、信息与控制国际会议 ICMIC2012)

会议地点: 哈尔滨

会议语种:英文

页码: 474-478

在线出版日期: 2012-05-18（万方平台首次上网日期，不代表论文的发表时间）