成熟柑橘的图像识别及空间定位研究  

Image Recognition and Three-dimensional Location of Mature Oranges from Nature Scene

作　　者：蔡健荣[1] 李玉良[1] 范军[1] 周小军[1] 

机构地区：[1]江苏大学食品与生物工程学院,江苏镇江212013

出　　处：《微计算机信息》2007年第34期224-225,314,共3页Control & Automation

基　　金：国家863项目(2006AA10Z263);江苏省高校自然科学基金资助项目(05KJB210019)

摘　　要：采用RGB颜色系统中2R-G-B色差的Ostu自适应阈值分割的方法可以将单果、多果、部分重叠及遮挡的成熟柑橘自动、快速识别;优化圆形Hough变换逼真地拟合出目标图像的形心坐标及半径;提出一种新的基于特征的匹配策略,结合双目立体成像技术实现空间目标的准确定位。经过验证,识别率>95%,当工作距离小于1.0m时,距离误差可以控制在±0.8cm以内,算法准确快捷、鲁棒性好、通用性强。A new method is presented according to the self-adjusting threshold of 2R-G-B, the algorithm can recognize single or multi-fruits easily and accurately, especially a portion of the fruits overlapped or sheltered; the Circular Hough transform arithmetic can simulate the object image centroid coordinates and radius realistically;The new match technique of the binocular stereo vision can locate the objects accurately, The result shows that the recognition correctness rate is high up to 95%, and when the work distance is less than 1.0m, almost all the errors are less than 0.8cm, the algorithm is effective,robust and universal.

关 键 词：识别 定位 圆形Hough变换 双目立体视觉 

分 类 号：TP242.62[自动化与计算机技术—检测技术与自动化装置]