CAJ | 학술논문

准确地提取荔枝果实的完整轮廓对采摘机器人自动识别与采摘至关重要.以蚁群和模糊 C 均值(FCM)聚类为理论基础,选用符合荔枝颜色特性的 L*a*b*颜色空间,提出一种基于蚁群和带空间约束 FCM 的荔枝图像分割算法.该算法利用 L*a*b*颜色空间的 a*通道正轴代表红色和负轴代表绿颜色进行初始分割,然后利用蚁群聚类算法全局性和鲁棒性的优点确定 FCM 的聚类中心,用引入空间约束的 FCM 完整地分割出荔枝果实.实验结果表明此方法实现了荔枝图像完整地分割,并且满足了采摘机器人后续的荔枝识别与采摘,对成熟荔枝分割的正确率达到了87%.
준학지제취려지과실적완정륜곽대채적궤기인자동식별여채적지관중요.이의군화모호 C 균치(FCM)취류위이론기출,선용부합려지안색특성적 L*a*b*안색공간,제출일충기우의군화대공간약속 FCM 적려지도상분할산법.해산법이용 L*a*b*안색공간적 a*통도정축대표홍색화부축대표록안색진행초시분할,연후이용의군취류산법전국성화로봉성적우점학정 FCM 적취류중심,용인입공간약속적 FCM 완정지분할출려지과실.실험결과표명차방법실현료려지도상완정지분할,병차만족료채적궤기인후속적려지식별여채적,대성숙려지분할적정학솔체도료87%.
@@@@Accurate extracting of litchi fruits’complete contour is very important to automatic recognition and picking of robots. On the basis of ant colony and Fuzzy C-Means(FCM)clustering algorithm, an effective color images segmentation algorithm using the suitable L*a*b* color space is proposed. The algorithm firstly uses of L*a*b* color space that the positive and nega-tive values of a* channel represent red and green color for initial segmentation, and then determines the FCM initial clustering center according to ant colony algorithm, Finally, using the space constraints FCM completely segments litchi fruit. The results show that the proposed algorithm not only completely segments the litchis, but also meets the robot subsequent litchi recognition and picking, and the correct segmentation rate is up to 87%.