<title>Automatic Recognition Of Moving Objects And Its Application To A Robot For Picking Asparagus</title>

Abstract

After a brief description of the robot for picking white asparagus, a statistical study of the different shapes of asparagus tips allowed us to determine certain discriminating parameters to detect the tips as they appear on the silhouette of the mound of earth. The localisation was done stereometrically with the help of two cameras. As the robot carrying the system of vision-localisation moves, the images are altered and decision cri-teria modified. A study of the image from mobile objects produced by both tube and CCD came-ras was carried out. A simulation of this phenomenon has been achieved in order to determine the modifications concerning object shapes, thresholding levels and decision parameters in function of the robot speed.