A fruit-tracking system for robotic harvesting
Tóm tắt
The fruit-tracking system described in this article estimated in real-time (60 Hz) the size and position of a valid fruit region in color images. This information was used to control the motion of a fruit-picking robot. Statistical classification of color pixels was employed to improve image processing under the variety of imaging conditions encountered in a grove. Manual specification of valid fruit colors was possible through interactive training sessions. Object-oriented aperture control allowed adjustment of image exposure based on the illumination level of a targeted fruit. This feature increased the dynamic illumination range of the tracking system by ignoring excessively dark or bright background conditions. The performance of the fruit-tracking system was evaluated with off-line tests and under actual operating conditions.
Tài liệu tham khảo
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