Adaptive Recognition of Different Maturity Citrus in Natural Scenes

Abstract

In order to meet the fruit demand of market and guide the robots to harvest citrus fruit,a method based on image processing is developed to identify different maturity citrus fruits in complex natural scenes.Ratio transformation between the R and G component is attempted to acquire a ratio image.In the Munsell HSV color space,conjugate incentive algorithm is attempted to fuse H and S component to acquire a fusion image,which is weakly correlated with the ratio image.A mask is built by the fusion image to remove the non-citrus background of the ratio image.Experimental results show that citrus can be recognized with an accuracy of 92%.This work demonstrates that the adopted method in this paper is very robust and effective to adaptively recognize different maturity citrus in natural scenes.