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Binocular stereo vision applied to harvesting robots |
College of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou, Zhejiang 310029, China)
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Abstract A measurement of 3 D locations of ripe tomatoes by binocular stereo vision was done for harvesting tomatoes in greenhouse. In this method, a pair of stereo images were obtained by stereo cameras, which were then transformed to gray images. According to the gray correlation, corresponding points of stereo images were searched, and a depth image was obtained by calculating distances between tomatoes and stereo cameras based on triangulation principle. The center of tomato was extracted by distinguishing a tomato from background with image processing. The 3D locations of ripe tomatoes were obtained by comparing coordinate values of the center of tomato ±20 mm when distance is less than 1 000 mm. with the depth image. The error of depth is within
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