摘要
果实识别是自动化采摘系统中的重要环节,能否快速、准确地识别出果实直接影响采摘机器人的实时性和可靠性。为了实现自然光照条件下绿色苹果的识别,本文采集了果实生长期苹果树图像,并利用随机森林算法实现了绿色苹果果实的分类和识别。针对果树背景颜色和纹理特征的复杂性,尤其是绿色果实和叶片在很多特征上的相似性,论文基于RGB颜色空间进行了Otsu阈值分割和滤波处理,去除枝干等背景,得到仅剩果实和叶片的图像。然后,分别提取叶片和苹果的灰度及纹理特征构成训练集合,建立了绿色苹果随机森林识别模型,并使用像素模板验证数据集,对模型进行预测试验,正确率为90%。最后,选择10幅自然光照条件下不同的果树图像作为检测对象,使用该模型进行果实识别并使用霍夫变换绘制果实轮廓,平均识别正确率为88%。结果表明,该方法具有较高的鲁棒性、稳定性、准确性,能够用于自然光照条件下绿色果实的快速识别。
In the automatic fruit picking system,it is one of the most important aspects to recognize apples,especially green apples.Quick and accurate identification directly affects real-time operability and reliability of picking robot.In order to realize recognition of green apple in natural illumination condition,images of apple trees in natural growth period were taken,and random forest algorithm was used to classify and identify green apples.To solve complexity and fuzziness of green apples and fruit trees and complex background 's color and texture features,especially similarity of green apples and leaves on many characteristics,the Otsu threshold segmentation method was applied to remove the background noise and tree trunk and branches in images in RGB space so that images contained only green apples and leaves were obtained.After filtering processing on images,the grey level information and texture features of apples and leaves were extracted respectively,and they were used to train and build the green apple identification model based on random forest algorithm.Then green apple prediction experiments were carried out for the sample images by using template pixel scanning,and the predicting accuracy reached 90%.Finally,ten green apple tree images were chosen to execute green apple recognition by using the model,and with Hough transform method to mark the identified apples.It illustrated that the green apple recognition rate reached 88%.The results showed that the method had a good robustness,stability and accuracy,and it could be used to recognize green fruits under natural illumination conditions.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2017年第S1期86-91,共6页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家自然科学基金项目(31471409
31371532)
关键词
自然光照
绿色苹果
随机森林
纹理特征
霍夫变换
natural illumination
green apple
random forest
texture feature
Hough transform