Transactions of the ASAE · 1987 · 87 citations · 0 references
EngineeringComputer ScienceMechatronics EngineeringColor VisionComputer VisionRobot VisionColor PerceptionFruit HarvestingHarvesting RobotsMachine Vision For RoboticsRobotic HarvestingRobotic VisionCitrus Fruit HarvestingCitrus FruitsColor Image ProcessingFruit DetectionFruit Image AnalysisManipulator PerceptionRobotic Fruit HarvestingTree Fruit Harvesting Robots
ABSTRACT THIS report discusses the use of chrominance information in natural scenes to enhance digital color images used to control a robotic manipulator for fruit harvest. By exploiting the natural high contrast in color between fruit and other objects in a color image the ability to differentiate citrus fruit from background leaves, soil, and sky is demonstrated.