欢迎来到人人文库网! | 帮助中心 人人文库renrendoc.com美如初恋!
人人文库网
首页 人人文库网 > 资源分类 > PDF文档下载

外文翻译基于机器视觉的水果的识别和定位.pdf

  • 资源大小:3.64MB        全文页数:11页
  • 资源格式: PDF        下载权限:游客/注册会员/VIP会员    下载费用:5
游客快捷下载 游客一键下载
会员登录下载
下载资源需要5

邮箱/手机号:
您支付成功后,系统会自动为您创建此邮箱/手机号的账号,密码跟您输入的邮箱/手机号一致,以方便您下次登录下载和查看订单。注:支付完成后需要自己下载文件,并不会自动发送文件哦!

支付方式: 微信支付    支付宝   
验证码:   换一换

友情提示
2、本站资源不支持迅雷下载,请使用浏览器直接下载(不支持QQ浏览器)
3、本站资源下载后的文档和图纸-无水印,预览文档经过压缩,下载后原文更清晰   

外文翻译基于机器视觉的水果的识别和定位.pdf

ZPANETALEDSICAT2006,LNCS4282,PP785–795,2006SPRINGERVERLAGBERLINHEIDELBERG2006RECOGNITIONANDLOCATIONOFFRUITOBJECTSBASEDONMACHINEVISIONHUIGU,YAYALU,JILINLOU,ANDWEITONGZHANGINFORMATIONENGINEERINGCOLLEGE,ZHEJIANGUNIVERSITYOFTECHNOLOGY,310014,HANGZHOU,CHINAGHZJUTEDUCN,{OO327,PHONIXLOU,SEASONZWT}163COMABSTRACTTHISPAPERDISCUSSEDTHELOWLEVELMACHINEVISIONONFRUITANDVEGETABLEHARVESTINGROBOT,INTRODUCEDTHERECOGNITIONANDLOCATIONOFFRUITANDVEGETABLEOBJECTSUNDERNATURESCENES,PUTFORWARDANEWSEGMENTATIONMETHODCOMBINEDWITHSEVERALCOLORMODELSWHAT’SMORE,ITPRESENTEDANOVELCONCEPTIONFORTHEDETERMINATIONOFTHEABSCISSIONPOINT,SUCCESSFULLYRESOLVEDTHELOCATIONOFCENTERANDABSCISSIONPOINTWHENTHEFRUITWEREPARTIALLYOCCLUDEDMEANWHILE,BYTHETECHNIQUEOFGEOMETRY,ITSETTLEDTHELOCATIONSOFTHEABSCISSIONPOINTWHENTHEFRUITGREWASKEWITPROVEDGOODEFFECTUNDERTHENATURESCENEKEYWORDSMACHINEVISION,FRUITOBJECT,RECOGNITION,LOCATION1INTRODUCTIONDURINGTHEPROCESSOFHUMANCONQUERINGTHENATURE,REBUILDINGTHENATUREANDPROMOTINGTHESOCIETY,HUMANSAREFACINGTHEPROBLEMOFABILITYLIMITATIONASARESULT,HUMANSHAVEBEENSEEKINGFORTHEROBOTSTOSUBSTITUTETHEMANTOCOMPLETECOMPLICATEDTASKS,ANDTHEINTELLIGENTROBOTISTHEBESTCHOICEASWEALLKNOW,VISIONISTHEMAINWAYOFHUMANSAPPERCEIVINGTHEWORLDABOUT80INFORMATIONISGOTTHROUGHVISIONSO,ITISVITALTOGRANTVISIONFUNCTIONFORINTELLIGENTROBOTSHERE,WECANDEFINETHEMACHINEVISIONASFOLLOWSITISABLETOPRODUCESOMEDESCRIPTIONABOUTTHECONTENTOFTHEIMAGEAFTERPROCESSINGTHEINPUTIMAGE1THEREAREMANYFIELDSRELATEDWITHMACHINEVISIONSO,ITALSOHASAWIDEAPPLICATIONINVARIOUSASPECTS,FROMMEDICALIMAGETOREMOTESENSEDIMAGE,FROMINDUSTRIALINSPECTIONTOAGRICULTURALAREAS,ETCTHEFRUITANDVEGETABLEHARVESTINGROBOTWHICHWEAREGOINGTODISCUSSISONEKINDOFAUTOMATICMECHANICALHARVESTINGSYSTEMSPOSSESSINGTHEPERCEPTIVEABILITY,CANBEPROGRAMMEDTOHARVEST,TRANSFERANDPACKTHECROPS2DURINGTHEPROCESSOFHARVESTING,THECHIEFPROBLEMOFTHEVISIONSYSTEMISTORECOGNIZEANDLOCATETHEFRUITOBJECT3HERE,RECOGNITIONMEANSSEGMENTATIONOFTHEFRUITOBJECTSFROMTHECOMPLICATEDBACKGROUND4ANDLOCATIONINCLUDESTWOASPECTSLOCATIONOFTHEFRUITCENTERANDABSCISSIONPOINT786HGUETALRECENTLY,THERE’REMANYRESEARCHESABOUTFRUITANDVEGETABLEHARVESTINGROBOTBASEDONMACHINEVISION56CAIJIANRONGPRESENTEDTHEMACHINEVISIONRECOGNITIONMETHODSUNDERTHENATURESCENEUSINGTHEOTSUALGORITHM,ITGOTTHESEGMENTATIONTHRESHOLDAUTOMATICALLYANDEXTRACTEDTHETARGET7MIYANAGAINTRODUCEDTHESEEDINGGRAFTINGTECHNIQUEBASEDONMACHINEVISIONANDTHEROBOTINVENTEDBYTHEMHASBEENPUTINTOPRODUCTION8SLAUGHTERDCSETUPONEORANGECLASSIERMODELBYUSINGTHECOLORFEATUREINTHECHROMATICDIGITALIMAGE9AMONGTHESERESEARCHES,THEREHAVEBEENMANYMETHODSOFEXTRACTINGTHEFRUITSFROMCOMPLICATEDNATURESCENEBUTTHEBASICCONCEPTIONISEXTRACTINGTHEFRUITOBJECTBYCONVERTINGONECOLORMODELTOANOTHERONEWHICHISEASIERTOPROCESSORMUCHMORESUITABLEFORTHECASEHOWEVER,STILL,THEREARETWOPROBLEMSREMAINUNSETTLED1HOWTODETERMINETHEABSCISSIONPOINTWHENTHEFRUITSGROWASKEW;2HOWTODETERMINETHECENTERANDABSCISSIONPOINTWHENTHEREARESOMANYFRUITOVERLAPPEDEACHOTHERTHATITISIMPOSSIBLETODETECTTHEWHOLEEDGEIFBOTHOFTHEPROBLEMSREMAINUNSETTLED,ITMEANSTHEHARVESTINGMAYBEAFAILUREAND,WHATISMOREIMPORTANT,THEREISONLYABOUT40OFTHEFRUITANDVEGETABLEISVISIBLEINTHEORCHARD10,WHICHMEANSABOUT60OBJECTSAREPARTIALLYOCCLUDEDORCOMPLETELYOCCLUDEDGENERALLY,THEAGRICULTURALROBOTSAREFITWITHFANSSOASTOBLOWTHELEAVESCOVERINGTHEFRUITSO,FORTHEFRUITOCCLUDEDCOMPLETELY,ITMAYBEPARTIALLYRESOLVEDINTHISWAYSO,INTHEPAPER,WEONLYDISCUSSEDTHEPROBLEMOFTHEFRUITPARTIALLYOCCLUDED,INPARTICULAR,THECASETHATONEFRUITOVERLAPANOTHERONEASAWHOLE,THEPROBLEMWEARETODISCUSSBELONGSTOTHELOWLEVELMACHINEVISION,ANDISONEOFTHEKEYSTEPSINTHEMACHINEVISION2METHODOLOGYUSEDINTHEPAPER21MAINIDEAFROMTHEANALYSISABOVE,WEKNEW,INORDERTOSEGMENTTHEFRUITFROMLEAVESANDBRANCHES,WESHOULDUSECOLORMODELSUITSCERTAINSITUATIONSTHERGBCOLORMODELCOMMONLYUSEDISNOTSUITABLEFORTHEORCHARDIMAGESBECAUSEINRGBCOLORSPACE,THETRICOLORRGBNOTONLYREPRESENTTHEHUEVALUE,BUTALSOREPRESENTTHEBRIGHTNESSSO,THECHANGEOFTHEOUTWARDILLUMINATIONMAYADDTHEDIFFICULTYOFTHERECOGNITION,SORGBISUNDEPENDABLEINTHEPROCESSOFTHESEGMENTATIONINORDERTOMAKEUSEOFTHEFRUIT’SCLUSTERINGFEATUREINHUESPACE,WENEEDTOSEPARATETHEHUEANDBRIGHTNESSINFORMATIONWECANACHIEVETHISGOALBYTRANSFERRINGTHERGBTOTHEMODELSWHICHSEPARATEHUEANDBRIGHTNESS22COLORMODELSWEUSETHREETYPESOFCOLORMODELSINTHEPAPERTHEFIRSTONEISLCDLUMINANCEANDCOLORDIFFERENCEMODELTHEREAREFOURCOLORATTRIBUTESINTHISMODEL,INCLUDINGBRIGHTNESSINFORMATIONY,COLORDIFFERENCEOFRED,CR,COLORDIFFERENCEOFGREENCG,COLORDIFFERENCEOFBLUECBTHETRANSFORMFORMULAISASFOLLOWSRECOGNITIONANDLOCATIONOFFRUITOBJECTSBASEDONMACHINEVISION787⎪⎪⎩⎪⎪⎨⎧−−−YBCYGCYRCBGRYBGR1140587029901DURINGTHEPROCESSOFEXPERIMENT,WEFOUNDTHATTHECOLORDIFFERENCEOFREDOFFRUITISMUCHHIGHERTHANTHATOFLEAVESORBRANCHES,EVENTHEUNRIPEFRUIT,SUCHASUNRIPETOMATOTHATWOULDBEREFERREDLATERSOWEONLYHAVETOCONSIDERABOUTTHECOLORDIFFERENCEOFREDCRTHESECONDMODELWEUSEDISNORMALIZEDRGBTHEDIAGRAMWASUSEDTOREPRESENTTHECOLORPROPERTIESOFTHETHREEPORTIONSTHETRANSFORMFORMULAISDEFINEDASFOLLOWS⎪⎩⎪⎨⎧///BGRBBBGRGGBGRRR2ITISOBVIOUSITSATISFIES1BGRCOMBINEDTHEADVANTAGESOFTHEABOVETWOMODELS,WECANCONCLUDETHETHIRDCOLORMODELCALLEDLHMINTHISPAPERCHOOSINGYANDCRFROMTHEFIRSTCOLORMODEL,RANDGFROMTHESECONDMODEL;WECANCONSTRUCTTHEFORMULAASFOLLOW⎪⎪⎩⎪⎪⎨⎧−//114058702990BGRGGBGRRRYRCBGRYR33SEGMENTATIONUNDERTHENATURESCENEOFTHEORCHARD,THEFACTORSCONTAININGTHENONUNIFORMILLUMINATION,THEOCCLUSIONOFTHELEAFANDBRANCHALLMAKEITMOREDIFFICULTTOSEGMENTATPRESENT,WECANCLASSIFYTHECHROMATICIMAGESEGMENTATIONINTOTHREECLASSES1SEGMENTATIONBASEDONTHRESHOLD;2SEGMENTATIONBASEDONEDGEINSPECTINGANDAREAGROWING;3SEGMENTATIONBASEDONCOLORCLUSTERING1131CLUSTERINGANDCLASSIFIERTHEPRIMARYCONCEPTIONOFCLUSTERINGISTODISTINGUISHTHEDIFFERENTOBJECTSWHICHINCLUDEDIFFERENTCLASSESOFOBJECTSANDDIFFERENTPARTSOFTHESAMEOBJECT12ALLCLASSIFICATIONALGORITHMSAREBASEDONTHEASSUMPTIONTHATTHEIMAGEINQUESTIONDEPICTSONEORMOREFEATURESANDTHATEACHOFTHESEFEATURESBELONGSTOONEOFSEVERALDISTINCTANDEXCLUSIVECLASSESTHETRADITIONALWAYOFCLASSIFIERCOMPRISESTWOPHASESOFPROCESSTRAININGANDTESTINGINTHEINITIALTRAININGPHASE,CHARACTERISTICPROPERTIESOFTYPICALIMAGEFEATURESAREISOLATEDAND,BASEDONTHESE,AUNIQUEDESCRIPTIONOFEACHCLASSIFICATIONCATEGORY,IETRAININGCLASS,ISCREATEDINTHESUBSEQUENTTESTINGPHASE,THESEFEATURESPACEPARTITIONSAREUSEDTOCLASSIFYIMAGEFEATURES788HGUETALINTHEEXPERIMENT,WESAMPLED60PIXELSOFLEAF,BRANCH,ANDFRUITRESPECTIVELYANDCONSTRUCTEDACLASSIFIERADOPTINGTWOFEATUREPATTERNSMANDN,WEFORMEDTHEDECISIONFUNCTIONSCBNAMNMF,,WHEREA,B,ANDCAREARBITRARYCONSTANTSASLONGASTHEPOINTSONTHELINESATISFIESTHECONDITION0,NMFHERE,FEATUREPATTERNMAYBECOLOR,SHAPE,SIZE,ORANYPROPERTIESOFTHEOBJECTSACCORDINGTOTHEDECISIONFUNCTIONS0,NMFOR0,NMF,WECANDIVIDETHEIMAGEINTOTWOPARTSASSHOWNINFIG1FIG1MODELOFCLASSIFIER32SEGMENTATIONOFTHEFRUITOBJECTSINTHISSTUDY,WEADOPTEDTHESEGMENTATIONMETHODOFSEVERALTHRESHOLDSTHETHRESHOLDSAREDERIVEDFROMTHEABOVETHREEMODELSOFTHEIMAGEUSINGTHEDECISIONFUNCTIONSACCORDINGTOTHEABOVEPARAGRAPHS,WECOULDGETTHREEDECISIONFUNCTIONSTHEFIRSTFUNCTION,F1,SEPARATEDTHEFRUITPORTIONANDTHELEAFPORTION,THESECONDFUNCTION,F2,SEPARATEDTHEFRUITPORTIONFROMTHEBRANCHPORTION,ANDTHETHIRDFUNCTIONF3,SEPARATEDTHELEAFPORTIONFROMTHEBRANCHPORTIONBUT,ONTHEBASISOFTHEREQUESTOFTHEEXPERIMENT,WEONLYHAVETOSEGMENTTHEFRUITFROMTHEBACKGROUND,ANDTHELEAFANDBRANCHPORTIONSWEREREGARDEDASBACKGROUNDSO,THEREWASNONEEDTOCONSIDERF333ANALYZINGTHEIMAGEUSINGTHELCDMODELITISOBVIOUSTHATTHEFRUIT,LEAFANDBRANCHHADTHEDIFFERENTBRIGHTNESSANDCOLORDIFFERENCEOFTHEREDSO,SAMPLED60PIXELSOFTHEFRUIT,LEAFANDBRANCHTOTRAIN,FROMFIG2A,WEKNEWTHEDISTANCEBETWEENTHEMEANVALUESOFTHEFRUITOBJECTANDTHATOFTHEBRANCHANDLEAFWASRATHERGREAT,SOITWASAPPROPRIATETOUSETHEMINIMUMDISTANCECLASSIFIERFROMTHETRAININGSET,WECOULDGETTHEDECISIONFUNCTIONSACCORDINGTOTHEMINIMUMDISTANCECLASSIFIERASFOLLOWS

注意事项

本文(外文翻译基于机器视觉的水果的识别和定位.pdf)为本站会员(淘宝运营)主动上传,人人文库网仅提供信息存储空间,仅对用户上传内容的表现方式做保护处理,对上载内容本身不做任何修改或编辑。 若此文所含内容侵犯了您的版权或隐私,请立即通知人人文库网(发送邮件至[email protected]或直接QQ联系客服),我们立即给予删除!

温馨提示:如果因为网速或其他原因下载失败请重新下载,重复下载不扣分。

关于我们 - 网站声明 - 网站地图 - 资源地图 - 友情链接 - 网站客服客服 - 联系我们

网站客服QQ:2846424093    人人文库上传用户QQ群:460291265   

[email protected] 2016-2018  renrendoc.com 网站版权所有   南天在线技术支持

经营许可证编号:苏ICP备12009002号-5