基于YUV颜色模型的番茄收获机器人图像分割方法  

Image Segmentation Method Based on YUV Color Space for Tomato Harvesting Robot

作　　者：林伟明[1] 胡云堂[1] 

机构地区：[1]九江学院机械与材料工程学院,九江332005

出　　处：《农业机械学报》2012年第12期176-180,共5页Transactions of the Chinese Society for Agricultural Machinery

基　　金：江西省教育厅青年科学基金资助项目(GJJ10257)

摘　　要：在研究番茄收获机器人对目标图像分割识别时,经常由于采集的图像受光照影响以及分割识别算法的计算复杂性而影响到识别的准确性和实时性。通过比较RGB、HSI、YUV等颜色模型的特点,从理论上分析了YUV颜色模型应用于收获机器人视觉系统的可行性,提出了一种基于YUV颜色模型的成熟番茄分割方法。同时综合实验及经验确定了成熟的红色番茄在RGB、HSI、YUV颜色模型中阈值范围,采用直接确定色差阈值的双阈值分割算法识别成熟番茄,并对3种颜色模型在不同的光照条件下的分割识别效果进行实验对比。实验结果证实,将基于YUV颜色模型成熟番茄分割方法应用于番茄收获机器人视觉识别系统,能很好地解决其鲁棒性和实时性问题。In the research of segmentation of the target image for tomato harvesting robot, the accuracy was affected by illumination and calculation complication. Firstly, the characteristics of RGB, HIS and YUV color spaces were compared. It was theoretically analyzed that the YUV color space applying to tomato harvesting robot vision system was feasible. Then, the threshold value of the ripe tomato in their color spaces was given according to the results of experiments and experience. The double-threshold algorithm based on YUV color space was put forward to apply to the tomato harvesting robot vision system. And the experiments under different illumination were designed to segment ripe tomato respectively in RGB, HIS and YUV color space in order to test the effect of those algorithms. The experiments also showed that the algorithm based on YUV color space had the better robust and the better real-time than the others.

关 键 词：番茄 收获机器人 YUV颜色模型 图像分割 机器视觉 

分 类 号：TN911.73[电子电信—通信与信息系统]