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The Acquisition of Kiwifruit Feature Point Coordinates Based on the Spatial Coordinates of Image

Abstract : How to obtain the spatial coordinates of kiwi fruit has been one of the key techniques for kiwi fruit harvesting robot. In this paper, the writer proposes a unique way to obtain the spatial coordinates of the features of kiwi fruit from the bottom of the target fruit based on the growth characteristics and scaffolding cultivation pattern characteristics of kiwi fruit, plus the help of Microsoft camera and Kinect sensor. Also included in this paper is the coordinate conversion between the images come from Microsoft camera and the images of the Kinect sensor, which is followed by an analysis of the precision of the spatial coordinates of Kiwi fruit captured by the Microsoft camera and Kinect sensor. The process is like this: first, capture images of the target fruit from the bottom of the fruit with Microsoft camera, and then extract coordinates of the target fruits’ feature points to determine the corresponding target fruit feature point coordinates in the Kinect sensor; second, analyze the correspondence between the Microsoft camera image coordinate system and the Kinect sensor image coordinate system so as to establish a mathematical model for the image coordinate conversion; finally, capture target feature points’ spatial coordinates with Kinect sensor and conduct tests. The results show that the precision of coordinate conversion mode and Kiwifruit spatial coordinates can meet the requirements of the harvesting robots.
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Bin Wang, Zixiao Chen, Jianmin Gao, Longsheng Fu, Baofeng Su, et al.. The Acquisition of Kiwifruit Feature Point Coordinates Based on the Spatial Coordinates of Image. 9th International Conference on Computer and Computing Technologies in Agriculture (CCTA), Sep 2015, Beijing, China. pp.399-411, ⟨1010.1007/978-3-319-48357-3_39⟩. ⟨hal-01557822⟩

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