אסיף מאגר המחקר החקלאי

Improving fruit detection for robotic fruit harvesting

Year:

2009

Source of publication :

Authors :

Volume :

824

Co-Authors:

Bulanon, D.M., Agricultural and Biological Engineering Department, University of Florida/IFAS, Gainesville, FL, United States
Burks, T.F., Agricultural and Biological Engineering Department, University of Florida/IFAS, Gainesville, FL, United States
Alchanatis, V., ARO-Volcani Center, Bet Dagan, Israel

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Abstract:

One of the challenges of developing a fruit-harvesting robot is fruit detection. Fruit detection in an unstructured environment with variable lighting conditions greatly affecting the robot's harvesting efficiency. This paper presents the enhancement of robotic citrus harvesting by improving fruit recognition and fruit visibility. To detect the fruit, an image processing approach was developed that is robust to outdoor variable illumination and has the ability to detect fruits in cluster and partially occluded fruit. The fruit portion was enhanced by the red chromaticity coefficient and a circle detection method enabled the individual fruits to be classified. To improve fruit visibility, the fruit detection algorithm was combined with a multiple viewing technique that would acquire multiple views of a portion of a tree canopy from different viewing angles. Results showed that by acquiring multiple views, fruit visibility improved from 50% to about 90%. The outcome of this study will be useful for targeting fruits for robotic fruit harvesting.

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