Abstract
Apples should be quickly and correctly detected from their surroundings for the apple harvesting robot. The basic color feature was extracted from FuJi apple tree images and analyzed by the statistical analysis method. Accordingly, a new apple detection method was proposed to position the centroid of picking apples. The color difference was used to segment apples from their surroundings. Then the picking apples were chosen by area parameter. After that, the conglutinated apples were segmented by bidirectional scanning line algorithm. Finally, all of picking apples were positioned by their circumdiameter matching algorithm. The experimental result showed that the correct classification rate of apple fruit achieved 90%.
Chapter PDF
Similar content being viewed by others
Keywords
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
References
A. Plebe, G. Grasso. Localization of spherical fruits for robotic harvesting, Machine Vision and Applications, 2001, 13 (2): 70–79
A. R. Jiménez, R. Ceres, J. L. Pons. A survey of computer vision methods for locating fruit on trees, Trans. ASAE, 2000, 43(6): 1911–1920
D. M. Bulanon, T. Kataoka, S. Zhang, Y. Ota, T. Hiroma. Optimal thresholding for the automatic recognition of apple fruits, ASAE Paper, 2001, No. 01–3133
D. M. Bulanon, T. Kataoka, Y. Ota, and T. Hiroma. A Color Model for Recognition of Apples by a Robotic Harvesting System, Journal of the JSAM, 2002, 64(5):123–133
D. Stanjnko, M. Lakota, M. Hocevar. Estimation of number and diameter of apple fruits in an orchard during the growing season by thermal imaging, Computers and Electronics in Agr, 2004, 42: 31–42
J. Zhao, J. Tow, J. Katupitiya. On-tree fruit recognition using texture properties and color data,IEEE/RSJ Int. Conf. Intell. Robots and Systems, 2005, 263–268
L. T. Amy, L. P.Donald, P. Johnny. Segmentation of Apple Fruit from Video via Background Modeling, ASAE Paper, 2006, No. 063060
T. Takahashi, S. Zhang, H. Fukuchi. Measurement of 3-D Locations of Fruit by Binocular Stereo Vision for Apple Harvesting in an Orchard, ASAE Paper, 2002, No. 021102
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer Science+Business Media, LLC
About this paper
Cite this paper
Mao, W., Jia, B., Zhang, X., Hub, X. (2009). DETECTION AND POSITION METHOD OF APPLE TREE IMAGE. In: Li, D., Zhao, C. (eds) Computer and Computing Technologies in Agriculture II, Volume 2. CCTA 2008. IFIP Advances in Information and Communication Technology, vol 294. Springer, Boston, MA. https://doi.org/10.1007/978-1-4419-0211-5_29
Download citation
DOI: https://doi.org/10.1007/978-1-4419-0211-5_29
Published:
Publisher Name: Springer, Boston, MA
Print ISBN: 978-1-4419-0210-8
Online ISBN: 978-1-4419-0211-5
eBook Packages: Computer ScienceComputer Science (R0)