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Detection of Overlapped Apples in Orchard Scene Using Improved K-means and Distance Least Square

文献类型: 会议论文

第一作者: Xia Xue

作者: Xia Xue 1 ; Zhou Guomin 1 ; Qiu Yun 1 ; Li Zhuang 2 ; Wang Jian 1 ; Hu Lin 1 ; Fan Jingchao 1 ; Guo Xiuming 1 ;

作者机构: 1.Institute of Agricultural Information, Chinese Academy of Agricultural Sciences, Beijing 10081, China

2.Institute of Pomology, Chinese Academy of Agricultural Sciences, Xingcheng 125199, China

关键词: Apple;Overlapped fruits;Contour reconstruction;Fruit detection;K-means;DLS

会议名称: IFIP WG International Conference on Computer and Computing Technologies in Agricultur

主办单位:

页码: 269-284

摘要: Automatic detection of mature apples in a complex agricultural condition is still a challenge for an autonomous picking robot due to the influence from overlapping. In order to detecting overlapped apples in tree canopy using a low-cost camera, a robust apples detection and reconstruction approach based on improved K-means and distance least square algorithm was studied. Firstly, the region of potential apple objects was extracted by using improved K-means algorithm. Then, the contours of apples were obtained by utilizing Canny edge detection algorithm on the V component map and the intact contour of unobscured apple was separated from overlapped apples contour after Y-junction searching. Finally, the contour of obscured apple was reconstructed by use of the distance least square circle fitting algorithm. The proposed method was compared with Hough transform method and the experimental result indicated that the proposed method could get much better performance for overlapped apples detection than Hough transform method. Thus it could be concluded that the proposed method is available for robotic apple picking in overlapped fruits scene with low cost.

分类号: s126-532

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