共查询到18条相似文献，搜索用时 390 毫秒
1.
基于改进型广义Hough变换的茄子果实位姿识别方法 总被引：2，自引：0，他引：2
以茄子果实为例,提出一种基于改进型广义Hough变换的空间物体位置和姿态的识别方法。在已知图形的参数表制作阶段添加缩放和旋转运算,扩大样本的代表范围;采用“形状相似度”的方法初选待识图形的缩放索引和旋转索引,缩小了搜索范围;适当提高梯度索引步长,避免参考点在累加器中的排布过于分散,便于确定最终参考点坐标。试验表明：改进型广义Hough变换对茄子大、小目标的深度恢复误差分别减小了4.0和7.9个百分点,说明该方法对空间不同位姿、部分遮挡情况下茄子果实的识别具有良好的效果。 相似文献
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融合K-means与Ncut算法的无遮挡双重叠苹果目标分割与重建 总被引：2，自引：7，他引：2
重叠苹果目标的准确分割是采摘机器人必须解决的关键问题之一。针对现有重叠苹果目标分割方法不能保留重叠部分轮廓信息的问题,提出了一种无枝叶遮挡的双果重叠苹果目标分割方法。该方法首先利用K-means聚类算法进行图像分割以提取苹果目标区域,然后利用Normalized Cut(Ncut)算法提取苹果目标轮廓,以实现未被遮挡苹果目标完整轮廓的准确提取,最后利用Spline插值算法对遮挡的苹果目标进行轮廓重建。为了验证算法的有效性,对20幅无枝叶遮挡双果重叠的苹果图像进行试验,并将该算法与寻找2个有效凹点用其连线分割重叠苹果目标,把分离的2个轮廓分别用Hough变换重建轮廓的方法进行对比。试验结果表明,对于图像中未被遮挡的苹果目标,利用该研究算法的平均分割误差为3.15%,提取的苹果目标与原始图像中苹果目标的平均重合度为96.08%,平均误差比Hough变换重建算法低7.73%,平均重合度高9.71%,并且该研究算法能够很好地保留未被遮挡苹果目标的完整轮廓信息,提高了分割精度。对于重叠被遮挡的苹果目标,平均分割误差和平均重合度分别为5.24%和93.81%,比Hough变换重建算法的平均分割误差低11.35%,平均重合度高12.74%,表明该算法可以较好地实现重叠被遮挡苹果目标的轮廓重建,研究结果可为实现枝叶遮挡影响下的多果重叠目标分割与重建提供参考。 相似文献
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基于凸壳理论的遮挡苹果目标识别与定位方法 总被引：9，自引：8，他引：1
为实现受果树枝叶遮挡、果实间相互遮挡的果实目标识别,该文提出了一种基于凸壳理论的遮挡苹果目标识别方法。该方法首先将图像由RGB颜色空间转换至L*a*b*颜色空间,并利用K-means聚类算法将图像分为树叶、枝条和果实3个类别,然后利用形态学方法对果实目标进行处理,得到目标边缘并进行轮廓跟踪,接着利用目标边缘的凸壳提取连续光滑的轮廓曲线,最后估计该光滑曲线段的圆心及半径参数,实现遮挡果实的定位。为了验证该算法的有效性,利用Hough圆拟合算法进行了对比试验,试验结果表明,该方法的平均定位误差为4.28%,低于Hough圆拟合方法的平均定位误差16.3%,该方法显著提高了目标定位的精度,能够有效识别遮挡苹果。 相似文献
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基于自监督学习的温室移动机器人位姿跟踪 总被引：1，自引：1，他引：0
为实现温室环境下机器人行进过程中的位置及姿态跟踪,该研究提出一种基于时序一致性约束的自监督位姿变换估计模型。模型用软遮罩,处理视频帧间静止造成的位姿预测值收缩现象,进一步用归一化遮罩,解决非刚体场景和目标遮挡问题。设计了一种星型扩张卷积,并基于该卷积,为模型构建自编码器。在采集自种植作物为番茄的日光温室视频数据上开展训练和测试试验。结果表明,与不采用遮罩处理的模型相比,采用软遮罩的模型,位置和姿态估计相对误差分别减少5.06个百分点和11.05个百分点,采用归一化遮罩的模型,这2项误差则分别减少4.15个百分点和3.86个百分点,2种遮罩均可显著提高模型精度;星型扩张卷积对降低模型误差是有效的,在网络参数不变的前提下,该卷积使姿态估计相对误差减少7.54个百分点;时序一致性约束使姿态估计均方根误差下降36.48%,每百帧累积姿态角误差降低54.75%,该约束可用于提高模型精度及稳定性;该研究的位置及姿态估计相对误差分别为8.29%和5.71%,与Monodepth2相比,减少了8.61%和6.83%。该研究可为温室移动机器人导航系统设计提供参考。 相似文献
6.
基于自动Hough变换累加阈值的蔬菜作物行提取方法研究 总被引：10，自引：8，他引：2
为解决机器视觉对生菜和绿甘蓝两种作物在整个生长时期内多环境变量对作物行识别影响的问题,同时提高机器视觉作物行识别算法的有效性,该文提出了一种基于自动Hough变换累加阈值的多作物行提取算法。首先,选用Lab颜色空间中与光照无关a分量对绿色作物进行提取,通过最优自适应阈值进行图像分割,并采用先闭后开形态学运算对杂草和作物边缘进行滤波。其次,采用双阈值分段垂直投影法对作物行特征点进行提取,通过对亮度投影视图中的目标像素占比阈值和噪声判断阈值设置,实现特征点位置判断和杂草噪声过滤,并对相邻特征点进行优化,剔除部分干扰特征。最后,采用Hough变化对特征点进行直线拟合,将不同Hough变换累加阈值获得的拟合直线映射到累加平面上,通过K-means聚类将累加平面数据聚类为与作物行数相同的类数,根据相机成像的透视原理提出基于聚类质心距离差和组内方差的最优累加阈值获取方法,将最优累加阈值下累加平面中的聚类质心作为识别出的真实作物行线。温室和田间试验表明,针对不同生长时期的生菜和绿甘蓝作物,该文算法均可有效识别出作物行线,最优阈值算法耗时小于1.5 s,作物行提取平均耗时为0.2 s,在田间和温室中作物行的平均识别准确率分别为94.6%、97.1%,识别准确率为100%的占比分别为86.7%和93.3%。研究结果为解决多环境变量影响因素下的算法鲁棒性和适用性问题提供依据。 相似文献
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自然环境下果实的准确分割与快速识别是采摘机器人作业面临的难题之一。针对自然环境中的成熟苹果，该研究提出一种基于Otsu与分水岭相结合的两级分割算法与区域标记梯度Hough圆变换的苹果识别方法。首先，使用亮度自适应校正算法对表面亮度分布不均的苹果图像进行校正，增强图像的细节信息。结合果实颜色特征，提取YCbCr颜色空间的Cr分量图像作为预处理样本。然后，采用改进后的Otsu算法进行初次分割，得到苹果目标的二值图像，该算法通过引入形态学开-闭重建滤波去除大量背景噪声，通过缩减灰度级遍历范围提高分割速率。采用基于距离变换的分水岭算法进行二次分割，分离粘连果实区域，提取目标苹果的外部轮廓。最后，在轮廓外设置最小外接矩形标记有效区域，在标记区域内进行梯度Hough圆变换实现苹果目标的自动识别。对自然环境中采集的200幅苹果图像进行测试，并与传统梯度Hough圆变换方法进行对比，本文方法在顺、逆光下的识别准确率为90.75和89.79%，比传统方法提高了15.03和16.41%，平均识别时间为0.665和0.693 s，比传统方法缩短了0.664和0.643 s。所提的两级分割算法不仅可以从复杂环境中准确分割果实目标区域，而且可以从粘连果实区域中提取单个果实边界。利用区域标记的梯度Hough圆变换方法能够快速准确地对果实进行识别。研究结果能满足苹果采摘机器人对不同光照下目标识别速度和精度的要求，可为苹果等类球形果实的快速识别提供参考。 相似文献
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拖拉机后悬挂横向位姿调整的模糊PID控制 总被引：6，自引：5，他引：1
针对传统拖拉机后悬挂机构无法实现横向位姿自动调整,难以适应丘陵山地复杂地形作业需求,导致耕深均匀性差、作业效率低等问题,该文设计了—种采用双液压缸进行横向位姿调整的后悬挂系统。首先,对提升臂、提升杆、农具三脚架等构件进行运动学分析,并运用MATLAB对液压缸活塞杆位移与农机具倾斜角度进行仿真,得出当横向倾角为-15°~15°时,液压缸活塞杆位移与角度的函数关系;其次,设计了横向位姿调整机构液压系统,并建立了该液压系统的数学模型;运用Simulink搭建了横向位姿调整系统的液压系统仿真模型,并采用模糊PID控制方法对仿真模型进行控制性能仿真;最后,搭建了拖拉机后悬挂系统控制试验平台,进行了拖拉机后悬挂横向位姿调整试验。结果表明：在预定目标内（±2°~±15°）,最大误差为1%,平均误差为0.7%,仿真的系统调整时间较短,不足0.2 s,试验的调整时间为1 s左右,系统稳定时间仿真和试验都很小,在0.1 s左右,试验和仿真超调量为0 ,符合设计目标,能够满足山地丘陵作业的横向角度调节需求。 相似文献
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基于改进Hough变换的类圆果实目标检测 总被引：15，自引：11，他引：4
为了能够快速准确地计算出类圆果实的形心坐标和半径,提出了一种基于改进圆形随机Hough变换的快速类圆果实目标检测方法。在以2R-G色差分量实现背景分离后,采用模板匹配细化算法获取单像素果实轮廓,并按步长获取果实的边缘特征点;然后,根据边缘特征点的平均切线方向对特征点进行分组,并以此为依据对圆形RHT算法进行改进;最后利用改进后的圆形RHT算法计算出类圆果实的形心坐标和半径。该方法能够快速准确地对类圆果实进行检测,对部分被遮挡的类圆果实识别效果较好。 相似文献
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茄子航天诱变后代变异及其SSR标记多态性研究 总被引：4，自引：3，他引：1
以"实践八号"育种卫星搭载的3个茄子高代自交系为材料,分析茄子航天诱变后代的变异及其SSR多态性。结果表明:航天诱变处理能显著影响茄子当代(SP1)种子的萌发,诱使株高、株型、叶片、果形等植物学性状在二代(SP2)发生变异,多数变异性状可在三代(SP3)稳定遗传;不同基因型材料对航天诱变处理的敏感度不同,长茄05-18的敏感性最高,圆茄05-9较05-7敏感性高;SSR多态性检测结果显示,变异株系与其未经航天处理自交系间存在不同程度的多态性,说明航天诱变可以使茄子在分子水平上发生变异。 相似文献
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F. Giuffrida C. Leonardi 《Acta Agriculturae Scandinavica, Section B - Plant Soil Science》2013,63(8):700-709
A short-term experiment was conducted to investigate whether the effect of rootstock on plant response to salinity depends on the solanaceous species used as scion. Tomato cv. ‘Ikram’ and eggplant cv. ‘Black Bell’ were grafted onto two tomato interspecific hybrids (‘Beaufort’ and ‘He-Man’). Plants were grown in an open soilless cultivation system and supplied with two nutrient solutions: non-saline control and a saline solution (adding 15 mM Na2SO4, 3.7 dS m?1). Plant dry biomass production and partitioning were influenced by salinity, but its effect was depending on the rootstock/scion combination. ‘Beaufort’ eliminated the deleterious effect of salinity when tomato was used as scion, but reduced (?29.6%) the shoot biomass of eggplant. ‘He-Man’ had a different effect on scion growth under saline conditions: shoot biomass was less reduced in eggplant (?20.6%) than in tomato (?26.8%). Under salt stress, ‘Beaufort’ reduced the accumulation of Na+ in tomato leaves more than in eggplant, whereas no differences were observed between tomato and eggplant grafted onto ‘He-Man’. Stem Na+ accumulation followed a different pattern. The increase of Na+ in the stems was similar for tomato and eggplant grafted onto ‘Beaufort’, whereas stems of tomato accumulated more Na+ compared to eggplant grafted onto ‘He-Man’. The opposite response of the tested rootstocks to salt stress when the scion was either tomato or eggplant seems to be partially related to the capacity of the rootstock and scion to exclude Na+ from the shoot. However, the results of nutrient accumulation within plant tissues imply that other mechanisms in addition to ion competition are involved in the salt resistance of grafted plants. 相似文献
13.
Characterization of catecholase and cresolase activities of eggplant polyphenol oxidase 总被引：4，自引：0，他引：4
In the present paper the catecholase and cresolase activities of eggplant polyphenol oxidase (PPO) are described. To preserve the latter activity, a partially purified enzyme was used. Peroxidase was removed from the preparation to avoid its interference with PPO during phenol oxidation. The partially purified eggplant PPO was fully active. The catecholase/cresolase ratio of 41.1 indicated that, in a pH close to the physiological, diphenol oxidation predominates over monophenol oxidation. The characteristic lag phase of the cresolase activity is modulated by the pH, the monophenol and diphenol concentrations, and the enzyme's concentration. The effect of several inhibitors was also tested, and the K(i) values of the two most effective (tropolone and 4-hexylresorcinol) were determined. 相似文献
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Polyphenol oxidase (PPO) from eggplant was extracted and partially purified by a two-step fractionation-precipitation using ammonium sulfate and phenylsepharose hydrophobic interaction chromatography. The eggplant PPO extract was characterized concerning its kinetic properties. Optimal conditions to obtain Maillard reaction products (MRPs) with a maximal inhibitory potency (IP) toward PPO activity were determined using the surface response methodology and a four-factor and five-level experimental design. The MRPs were prepared from cysteine (0.25 M) and glucose (0-1 M), at several initial pH values (2-6) and at differing heating times (3-19 h) and temperatures (95-115 degrees C). The maximal IP was obtained after heating a model system of glucose/cysteine (1/0.25 M) at pH 2 for 3 h 20 min at 115 degrees C. The soluble part of this MRP, called MRP(IPmax), was a noncompetitive inhibitor toward eggplant PPO. The IP of MRP(IPmax) on PPO activity was very potent as compared to that displayed by benzoic, p-coumaric, and t-cinnamic acids, as well as sorbic acid and 4-hexylresorcinol. The activity of preincubated PPO at 0 degrees C with MRP(IPmax) was only slightly restored after dialysis or gel filtration. 相似文献
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改进圆形Hough变换的田间红提葡萄果穗成熟度判别 总被引：1，自引：5，他引：1
针对田间环境下红提葡萄果穗成熟度人眼判断效率低且易误判的问题,该研究采用K近邻(K-nearest neighbor,KNN)算法和最大类间方差(Otsu)法分别对葡萄果穗图像背景分割以找到最佳分割效果,采用圆形Hough变换识别葡萄果粒,并开发了可判别葡萄果穗成熟度的算法。研究结果表明,不论顺光、逆光或者与田间背景相似的绿色果穗,KNN法可实现良好的背景分割,然后圆形Hough变换法在边缘阈值和灵敏度分别取0.15和0.942时,识别葡萄果粒的准确率可达96.56%。在此研究基础上,采用该研究开发的葡萄果穗成熟度判断算法,可根据颜色将果粒划分不同成熟度等级,并实现对果穗成熟度判别,判别准确率为91.14%。该研究结果可为果农适宜期收获葡萄及自动化采摘提供重要指导。 相似文献
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茄子红外辐射干燥特性及色泽变化 总被引：4，自引：3，他引：1
摘要：为探索高效节能的干燥方式,得到高质量的干制品,该文在不同干燥温度、样本厚度和辐照距离的条件下,研究了红外辐射加热干燥对茄子干燥特性和色泽的影响;并利用多元非线性回归方法,建立了干燥时间及色差总值（ΔE）与干燥温度、样本厚度以及干燥距离之间的二次多项式回归方程,相关系数分别是0.9888和0.9703,方程拟合程度较好。结果表明,选用合适的干燥条件及参数,可以显著提高茄子的干燥速率,保持产品的色泽;红外干燥茄子的单位耗能为2.48 MJ/kg(H2O),相比于热风干燥,可节能22.7%。 相似文献
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Sample preparation is often overlooked and is frequently considered as "a means to an end". This systematic study with a phenolic-enriched substrate, eggplant (Solanum melongena L.), was undertaken to evaluate the substantial variations in the extraction techniques, solvents, and parameters as described in the published literature. Direct comparison of over 10 extraction procedures or conditions was performed to show the importance and influence of sample preparation on the assay of phenolic compounds. Chlorogenic acid (CA) was the most abundant phenolic acid accounting for >75% of the total phenolic acids content extracted from the eggplant sample. Optimum extraction of CA and total phenolics (TP) from Black Bell cultivar of eggplant were obtained when extractions were performed with a mixture of MeOH/H2O at a ratio of 80:20% v/v using a pressurized liquid extractor (PLE) at 100 degrees C. The amount of CA and TP extracted from eggplant by the previously reported procedures using a wrist shaker, rotary shaker, stirring, sonication, or reflux with different extraction solvents (acetone or varying composition of MeOH/H2O solvent mixtures) varied significantly between 5 and 95% as compared to PLE. The predominant phenolic acids in the free phenolic acid fraction of Black Beauty cultivar of eggplant were CA isomers. However, caffeic acid isomers were the major phenolic acids extracted from the base-hydrolyzed fraction. The total amount of caffeic acid extracted from the Italian Neon cultivar was more that twice that of four other eggplant cultivars (Orient Express, Calliope Zebra Stripe, Orient Charm Neon, and Black Beauty). 相似文献
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López-Nicolás JM Pérez-Gilabert M García-Carmona F 《Journal of agricultural and food chemistry》2001,49(1):433-438
Lipoxygenase (LOX) from eggplant (Solanum melongena L. cv. Belleza negra) was partially purified, and the products and kinetics of the enzyme were studied. Linoleic acid (LA) was the best substrate for this enzyme. Product analysis by HPLC and GC/MS revealed that, at its pH optimum (pH 7.0), the enzyme converted LA almost totally into the 9-hydroperoxy isomer, whereas the 13-hydroperoxy isomer was only a minor product. At this pH, the enzyme had K(m) and V(max) values for LA of 1.4 microM and 2.2 micromol min(-1) (mg of protein)(-1), respectively, when the monomeric form of LA was used as substrate. The dependence of eggplant LOX activity on the physicochemical properties of LA was also studied. Experiments revealed that LA aggregates were used more efficiently than monomeric LA as substrate. The apparent substrate cooperativity observed may be due to the different activities exhibited toward monomers and aggregates. This result can be interpreted as a substrate-aggregation dependent activity. 相似文献