苹果采摘机器人系统研究——基于AI的Retinex算法

Research on Apple Picking Robot System—Retinex Algorithm Based on AI

以苹果采摘机器人为研究对象,针对其视觉系统采集的苹果图像进行预处理和分割识别。首先,通过Retinex算法对图像中出现的光线偏暗、模糊等缺陷进行增强处理,并利用双边滤波算法对图像进行去噪处理;然后,根据彩色图像的RGB特征区分图像中的苹果和树叶等,并采取Canny边缘检测算法描绘苹果边缘信息,以最小圆包裹目标法识别苹果的半径和坐标;最后,为了验证该方法的可行性,对工业相机采集的50张红富士苹果图像进行测试。结果表明:系统对图像识别的正确率为86%,对苹果识别的正确率为92.8%。

In this paper,the apple picking robot is taken as the research object,and the apple image collected by its vision system is preprocessed and segmented.Firstly,Retinex algorithm is used to enhance the dim light,blur and other defects in the image,and bilateral filtering algorithm is used to denoise the image;Secondly,the RGB features of the color image are used to distinguish the apples and leaves in the image,and the canny edge detection algorithm is used to describe the edge information of the apples,and the minimum circle wrapping method is used to identify the radius and coordinates of the apples;Finally,in order to verify the feasibility of this method,50 images of Red Fuji Apple collected by industrial camera were tested.The results show that the correct rate of image recognition is 86%,and the correct rate of Apple recognition is 92.8%.