Computer Vision: A Modern Approach
Computer Vision: A Modern Approach
A Machine Vision System Using a Laser Radar Applied to Robotic Fruit Harvesting
CVBVS '99 Proceedings of the IEEE Workshop on Computer Vision Beyond the Visible Spectrum: Methods and Applications
Computers and Electronics in Agriculture
Automatic detection of skin defects in citrus fruits using a multivariate image analysis approach
Computers and Electronics in Agriculture
Detecting abandoned objects with a moving camera
IEEE Transactions on Image Processing
An overview of statistical learning theory
IEEE Transactions on Neural Networks
Computer vision for fruit harvesting robots state of the art and challenges ahead
International Journal of Computational Vision and Robotics
Computers and Electronics in Agriculture
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This paper describes a computer vision based model for object detection that can serve as a preliminary step in fruit prognosis, which involves the estimation of the number, diameter and yield of apple fruits. In order to overcome the recognition unreliability in uncontrolled environments caused by uneven illumination conditions, partly occluded surfaces, and similar background features, we rely on a combination of the object's colour, texture and 3D shape properties. In our research, we apply colour segmentation to multiple scene snapshots to separate potential regions from the background and verify them first with texture analysis and second by reconstructing them to 3D space. By analysing all three distinct features (colour, texture and 3D shape) of possible areas, we can safely conclude if they represent fruits we are looking for. Once we detect and verify all areas representing fruits, we can measure their size and model estimated fruit yield.