计算机视觉技术在番茄收获中的应用.pdfVIP

2 0 0 1 年 9 月 农 业 机 械 学 报 第 32 卷 第 5 期 计算机视觉技术在番茄收获中的应用 张瑞合　姬长英　沈明霞　曹　坤 　　【摘要】　运用双 目立体视觉技术对红色番茄进行定位。图像进行灰度变换后, 对图像的二维直方图进行腐蚀、 膨胀以去除小团块, 提取背景区边缘, 然后用拟合曲线实现彩色图像的分割, 将番茄从背景中分离出来; 对 目标进 行标定后, 用面积匹配实现共轭图像中目标的配准; 运用体视成像原理, 从两幅二维图像中恢复 目标的三维坐标; 从实验数据可知, 当目标与摄像机的距离为 300～ 400 mm 时, 深度误差可控制在 3%～ 4% 。 叙词: 番茄　收获　计算机视觉　图像处理 中图分类号: T P 391. 41; S220. 39 文献标识码: A Applica tion of Com puter V ision to Toma to Harvesting Zhang R u ihe　J i Changying　Shen M ingx ia　Cao Kun ( ) N anj ing A g ricu ltu ra l U n iversity Abstract , . In th is paper the b inocu lar stereovision is app lied to o rien tating red tom atoes A fter , 2 tran sfo rm ed to grayscale the D h istogram of im age w as eroded and dilated and little area w as rem oved. T he edge of background area w as ex tracted, then the im age w as segm en ted along the . cu rve go tten from the edge T he co rresponding tom ato in righ t im age w as m atched by m ean s of area m atch after the tom ato w as labeled, in w h ich m ean s of th resho lding w as u sed. T he z coo rdinate of the featu re po in t can be go tten w h ich suppo rted by stereovision im aging techn ique. In the cou rse of area m atch , the co rresponding featu re po in t in righ t im age w as found by erro r m atch , thu s m atch ing tim e and po ssib ility of m iss m atch w as sho rten