水果采摘机器人视觉系统的目标提取.pdf

2004 , 9(2) : 68~ 72 Jour nal o China Agr icultural University 张铁中 林宝龙 高锐 ( , 100083) , , ( ) , , , , , / 0 , , ; , * * * L a b , H SV , YC C , b r ; ; ; TP 274 100724333(2004) 022 00682 05 A Obj ect extraction for the vision system of fruit picking robot Zhang Tiezhong, Lin Baolong, Ga o Rui College of Engineering , China Agricultural University, Be ijing 100083, China) Ab stra ct The key te chnology o the vision sy stem o ruit picking robot is to extract ruit obje ct rom ima ges quickly and exa ctly. The sub stanc e o object extra ction or the vision system o robot is image segmentation. Among lots o ruits and ve getables, there are a considerable color di erenc e b etwe en their rip e ruits and their backgrounds, yet the ruits o the same typ e are o a lmos t the same c olor. Then the distribution o color between the ripe ruits and the ba ck2 grounds is di erent in Color Sp ac e. Ba sed on the se e atures, an algorithm to extra ct ruits2 object rom images, which is ba sed on the approach o color2 sp a ce re erence list, was put orward . A color sp ac e re erence list wa s built rom ruits swatch images in the algorithm. The ruit object wa s extracted by using the list . Comp ared with other image segmenta2 tion arithmetic, this arithmetic ba se on color images, then the ba ckground will b e more cle an when