基于凸壳及距离变换的重叠柑橘目标识别与定位方法

doi:10.16731/j.cnki.1671-3133.2018.09.016

现代制造工程 ›› 2018, Vol. 456 ›› Issue (9): 82-87.doi: 10.16731/j.cnki.1671-3133.2018.09.016

基于凸壳及距离变换的重叠柑橘目标识别与定位方法

李扬¹, 杨长辉^1,2, 胡友呈¹, 张红¹, 杨岩^1,3

1 重庆理工大学机械工程学院,重庆 400054;
2 西安交通大学机械工程学院,西安 710049;
3 重庆理工大学汽车零部件先进制造技术教育部重点实验室,重庆 400054

收稿日期:2017-04-03 出版日期:2018-09-20 发布日期:2018-09-27
作者简介:李扬,硕士,研究方向为智能化山地农机机械。E-mail:383201914@qq.com
基金资助:
重庆市重点产业共性关键技术创新专项项目(cstc2015shms-ztzx0100);重庆理工大学研究生创新基金一般项目(YCX2015212)

Overlapping citrus target recognition and localization method based on convex shell and distance transformation

Li Yang¹, Yang Changhui^1,2, Hu Youcheng¹, Zhang Hong¹, Yang Yan^1,3

1 Chongqing University of Technology School of Mechanical Engineering,Chongqing 400054,China;
2 Xi’an Jiaotong University School of Mechanical Engineering,Xi’an 710049,China;
3 Chongqing University of Technology Advanced Manufacturing Technology Automotive Key Laboratory of Ministry of Education,Chongqing 400054,China

Received:2017-04-03 Online:2018-09-20 Published:2018-09-27

摘要/Abstract

摘要： 为实现重叠柑橘目标的识别与定位,提出了一种基于凸壳及距离变换的重叠柑橘目标识别与定位方法。该方法通过提取目标凸壳与目标相减后的凹陷区域的中心,对目标进行分割。然后通过距离变换理论提取分割后的目标重心,得到目标的采摘中心点,实现重叠果实的定位。该方法与传统Hough方法进行了定位效果比较,试验结果表明该方法平均定位误差为1.58 %,比Hough方法低4.72 %,显著提高了定位精度,为重叠果实目标的识别及定位提供了新的思路。

关键词: 定位, 凸壳, 距离变换, 重叠

Abstract: In order to realize the recognition and localization of overlapping citrus objects, a method for recognizing and locating overlapping citrus objects based on convex shell and distance transform is proposed. The method divides the target by extracting the center of the recessed area where the target convex shell and the target are subtracted. Then the segmented target center of gravity is extracted by the distance transformation theory, and the target picking center is obtained to realize the positioning of overlapping fruits. This method is compared with the traditional Hough method. The experimental results show that the average positioning error of this method is 1.58 %, which is 4.72 % lower than that of Hough method, which significantly improves the positioning accuracy and provides a new idea for the recognition and localization of overlapping fruit targets.

Key words: positioning, convex shell, distance transform, overlap

中图分类号:

TP391.7

李扬, 杨长辉, 胡友呈, 张红, 杨岩. 基于凸壳及距离变换的重叠柑橘目标识别与定位方法[J]. 现代制造工程, 2018, 456(9): 82-87.

Li Yang, Yang Changhui, Hu Youcheng, Zhang Hong, Yang Yan. Overlapping citrus target recognition and localization method based on convex shell and distance transformation[J]. Modern Manufacturing Engineering, 2018, 456(9): 82-87.

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基于凸壳及距离变换的重叠柑橘目标识别与定位方法

Overlapping citrus target recognition and localization method based on convex shell and distance transformation

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