Detection of Overlapped Apples in Orchard Scene Using Improved K-means and Distance Least Square - Computer and Computing Technologies in Agriculture XI Access content directly
Conference Papers Year : 2019

Detection of Overlapped Apples in Orchard Scene Using Improved K-means and Distance Least Square

Abstract

Automatic detection of mature apples in a complex agricultural condition is still a challenge for an autonomous picking robot due to the influence from overlapping. In order to detecting overlapped apples in tree canopy using a low-cost camera, a robust apples detection and reconstruction approach based on improved K-means and distance least square algorithm was studied. Firstly, the region of potential apple objects was extracted by using improved K-means algorithm. Then, the contours of apples were obtained by utilizing Canny edge detection algorithm on the V component map and the intact contour of unobscured apple was separated from overlapped apples contour after Y-junction searching. Finally, the contour of obscured apple was reconstructed by use of the distance least square circle fitting algorithm. The proposed method was compared with Hough transform method and the experimental result indicated that the proposed method could get much better performance for overlapped apples detection than Hough transform method. Thus it could be concluded that the proposed method is available for robotic apple picking in overlapped fruits scene with low cost.
Fichier principal
Vignette du fichier
478291_1_En_25_Chapter.pdf (491.67 Ko) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

hal-02124248 , version 1 (09-05-2019)

Licence

Attribution

Identifiers

Cite

Xia Xue, Zhou Guomin, Qiu Yun, Li Zhuang, Wang Jian, et al.. Detection of Overlapped Apples in Orchard Scene Using Improved K-means and Distance Least Square. 11th International Conference on Computer and Computing Technologies in Agriculture (CCTA), Aug 2017, Jilin, China. pp.269-284, ⟨10.1007/978-3-030-06137-1_25⟩. ⟨hal-02124248⟩
36 View
43 Download

Altmetric

Share

Gmail Facebook X LinkedIn More