Location and Recognition Fruit Trees Based on Binocular Stereo Vision

  • Xueguan Zhao
  • Yuanyuan Gao
  • Songlin Wang
  • Xiu WangEmail author
  • Pengfei Fan
  • Qingcun Feng
Conference paper
Part of the IFIP Advances in Information and Communication Technology book series (IFIPAICT, volume 546)


In order to improve pesticide utilization rate and reduce the environmental pollution caused by pesticide ground loss, this paper proposes to use binocular vision to recognize the contour and distance information of fruit trees. To improve the recognition accuracy and speed, focusing on the optimization of SIFT stereo matching algorithm. A method for matching the feature points of left and right images base on cosine distance and the vector modulus is proposed. On this basis, two stereo matching algorithms are compared, The accuracy of the Improved SIFT stereo matching algorithm is improved by 1.53%, With this method, the recognition time is almost unchanged, And the stability of depth measurement is analyzed. When the target distance sensor is 180 cm–220 cm, the standard deviation is 1.3592 cm, can meet the requirements of the work.


Image recognition Binocular vision Stereo match Visual location 



This research was financially supported by the National Key R&D Program of China (2016YFD0200604).


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Copyright information

© IFIP International Federation for Information Processing 2019

Authors and Affiliations

  • Xueguan Zhao
    • 1
    • 2
  • Yuanyuan Gao
    • 1
    • 2
  • Songlin Wang
    • 1
    • 2
  • Xiu Wang
    • 1
    • 2
    Email author
  • Pengfei Fan
    • 1
    • 2
  • Qingcun Feng
    • 1
    • 2
  1. 1.Beijing Research Center of Intelligent Equipment for AgricultureBeijingChina
  2. 2.National Research Center of Intelligent Equipment for AgricultureBeijingChina

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