9Bulanon D M, Kataoka T, Ukamoto H, et al. Development of a real-time machine vision system for the apple harvesting robot[C]//SICE Annual Conference, Sapporo, 2004.
10Bulanon D M, Kataoka T, Ota Y, et al. A segmentation algorithm for the automatic recognition of Fuji apples at harvest [J ]. Biosystems Engineering, 2002, 83 (4) : 405 - 412.
