Ripe tomato extraction for a harvesting robotic system

Authors:
Hongpeng Yin;Yi Chai;Simon X. Yang;Gauril S. Mitta
Affiliations:
College of Automation, Chongqing University, Chongqing City, China;College of Automation, Chongqing University, Chongqing City, China;School of Engineering, University of Guelph, Guelph, Ontario, Canada;School of Engineering, University of Guelph, Guelph, Ontario, Canada
Venue:
SMC'09 Proceedings of the 2009 IEEE international conference on Systems, Man and Cybernetics
Year:
2009

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Abstract

A robotic system for harvesting tomatoes in greenhouses is designed. Effective recognition of ripen tomatoes from complex background is the key technology of the harvesting robotic system. In this work, the color feature of ripen tomatoes is employed. The ripen tomato is segmented by K-means clustering using the L*a*b* color space. To extract a single integrity ripen tomato, mathematical morphology method is used to denoise and handle the situations of tomato overlapping and shelter. Experimental results show the effectiveness of the proposed method.