Recognition on image of litchi fruits and their main fruit bearing based on twin-threshold method

Abstract

To solve the key problems on recognition and positioning of picking object for litchi harvesting-robot,image sorts on litchi cluster,litchi fruits and their main fruit bearing branch in the region of interest of litchi image are given,and grayed color litchi image to Cr Single-channel image of YCbCr color space is processed,and segmentation strategy based on the twin-threshold method to recognize all parts of litchi image is proposed.Finally,testing experiment of recognizing cluster,fruits and their main fruit bearing branch of litchi was carried out,with respective average ratio of 91.67%,91.67%and 86.67%,by taking 90collected images influencing illumination in highlight,normal light and backlighting as test object.Results of both test on recognition of all parts of litchi and data analysis attested that method proposed in the article is feasible and effective.