CAJ | 학술논문

针对采摘机器人对重叠果实无法识别采摘问题，提出了一种基于极值的重叠苹果识别定位方法。首先，利用色差法对图像进行分割；然后采用 OTSU分割和孔洞填充提取轮廓；最后利用一种快速计算圆内的点到边缘最小距离的算法找到局部极大值，从而确定圆心和半径。实验表明：这种方法对提取的苹果轮廓较完整的情况定位效果较好，且实时性高，具有较强的实用性。
침대채적궤기인대중첩과실무법식별채적문제，제출료일충기우겁치적중첩평과식별정위방법。수선，이용색차법대도상진행분할；연후채용 OTSU분할화공동전충제취륜곽；최후이용일충쾌속계산원내적점도변연최소거리적산법조도국부겁대치，종이학정원심화반경。실험표명：저충방법대제취적평과륜곽교완정적정황정위효과교호，차실시성고，구유교강적실용성。
In natufral scenes , the apple picking robot can not recognize overlapped apples .To solve this problem , an o-verlapped apple recognizing and locating algorithm was proposed in this paper .First, an image is segmented by chromatic difference method .Then OTSU segmentation and holes filling was used to get the outline of the apples .In the end , the center point and radius was determined by a fast calculating method , in which the minimum distance of the points in the circle to the edge of the circle was calculated and the local maximal value was found .The experiment results showed that this method worked very well when the outline of the apples is complete , and the real-time performance and practicability was very good .