Skip to Main content Skip to Navigation
Conference papers

Recognition and Localization Method of Overlapping Apples for Apple Harvesting Robot

Abstract : In order to meet the speed requirements of harvesting robot, a method of tracking and recognition of overlapping apples is proposed in this paper. First of all, the first image should be segmented and denoised, the center and the radius is determined, the template which is used for matching is extracted according to the center and radius. Then, determine the center of ten images which are taken continuously, fit motion path of the robot according to the center of each image and predict subsequent motion path. The next processing area is determined according to the radius and predicted path. Finally, overlapping apples are identified by fast normalized cross correlation match method. Experiments prove that the new method can locate the center and radius of overlapping apples correctly. Besides, matching time is reduced by 48.1 % compared with the original one.
Document type :
Conference papers
Complete list of metadata

Cited literature [22 references]  Display  Hide  Download
Contributor : Hal Ifip Connect in order to contact the contributor
Submitted on : Tuesday, October 10, 2017 - 3:42:27 PM
Last modification on : Tuesday, October 10, 2017 - 3:53:41 PM
Long-term archiving on: : Thursday, January 11, 2018 - 1:11:12 PM


Files produced by the author(s)


Distributed under a Creative Commons Attribution 4.0 International License



Tian Shen, Dean Zhao, Weikuan Jia, Yu Chen. Recognition and Localization Method of Overlapping Apples for Apple Harvesting Robot. 9th International Conference on Computer and Computing Technologies in Agriculture (CCTA), Sep 2015, Beijing, China. pp.330-345, ⟨10.1007/978-3-319-48354-2_34⟩. ⟨hal-01614187⟩



Record views


Files downloads