| 一种用于机器人水果采摘的快速识别方法 |
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| 引用本文： | 邹谜,伍世虔,王欣.一种用于机器人水果采摘的快速识别方法[J].农机化研究,2019(1):206-210,252. |
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| 作者姓名： | 邹谜 伍世虔 王欣 |
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| 作者单位： | 武汉科技大学冶金装备及其控制教育部重点实验室 |
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| 基金项目： | 国家自然科学基金项目(61371190) |
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| 摘 要： | 针对机器人水果采摘中容易受遮挡、光照变化等因素的影响而产生误识别的问题,提出了一种基于颜色分量统计的特征匹配水果识别方法。根据成熟水果所特有的颜色特性,提取代表水果特征的描述值,将其作为识别时的特征进行匹配。在匹配过程中对每个搜索子图进行匹配时采用积分求和的思想,大大提高了水果识别的效率。实验结果表明:该算法在一定程度上有效解决了光照和遮挡对识别造成的影响,能快速准确地识别出需要采摘的成熟水果类型。
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| 关 键 词： | 颜色统计 特征匹配 水果识别 水果采摘 |
A Fast Matching Recognition Method for Fruit Picking |
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| Zou Mi,Wu Shiqian,Wang Xin.A Fast Matching Recognition Method for Fruit Picking[J].Journal of Agricultural Mechanization Research,2019(1):206-210,252. |
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| Authors: | Zou Mi Wu Shiqian Wang Xin |
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| Institution: | (Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081,China) |
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| Abstract: | To avoid the problem of false identification because of the occlusion and illumination changes in the picking fruits of robot,a method for identifying fruit is proposed,which uses feature matching based on color component statistics. According to the specific color characteristics of the fruit,the color component is extracted as the features of the matching template. The idea of integral summation is adopted in the matching process,which greatly improves the efficiency of the algorithm. The experimental results from the identification of fruit picking show that the method can effectively identify the mature fruit types quickly and accurately,and effectively solve the effects of illumination changes and fruit shading on robot recognition in the natural environment. |
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| Keywords: | color statistics feature matching fruit recognition fruit picking |
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