Target extraction of fruit picking robot vision system

摘要

Abstract Real-time and accurate target recognition and extraction of crop fruit images in the field is the key technology for picking robot vision system, and the essence of target extraction is image segmentation. When most of the water (vegetable) fruit is in the picking period, the surface color and the background color are quite different, while the surface colors of the same variety are similar, which are reflected in the different distribution characteristics of the fruit surface color and the background color in the color space. According to this characteristic, an image segmentation algorithm based on color space reference table for fruit target extraction of fruit picking robot vision system is proposed. The algorithm first establishes a color space reference table from the fruit sample image, and then uses a method similar to “convolution” to segment the image according to the color space reference table. Compared with other existing methods, the method is based on color information processing, which can remove the background more cleanly. Without segmentation processing and no complicated operation on the background, the method is beneficial to real-time image processing of the robot.