彭辉,吴鹏飞,翟瑞芳,刘善梅,吴兰兰,景秀.基于视差图像的重叠果实图像分割算法[J].农业机械学报,2012,43(6):167-173.
Peng Hui,Wu Pengfei,Zhai Ruifang,Liu Shanmei,Wu Lanlan,Jing Xiu.Image Segmentation Algorithm for Overlapping Fruits Based on Disparity Map[J].Transactions of the Chinese Society for Agricultural Machinery,2012,43(6):167-173.
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基于视差图像的重叠果实图像分割算法   [下载全文]
Image Segmentation Algorithm for Overlapping Fruits Based on Disparity Map   [Download Pdf][in English]
  
DOI:10.6041/j.issn.1000-1298.2012.06.030
中文关键词:  重叠果实  双目立体视觉  视差图像  图像分割
基金项目:国家自然科学基金资助项目(41101409)和中央高校基本科研业务费专项资金资助项目(2011JC020)
作者单位
彭辉 华中农业大学 
吴鹏飞 华中农业大学 
翟瑞芳 华中农业大学 
刘善梅 华中农业大学 
吴兰兰 华中农业大学 
景秀 华中农业大学 
中文摘要:为解决自动采摘视觉系统中重叠果实的分割问题,提出了基于视差图像的果实分割算法。采用双目立体视觉系统获取图像对,对图像对进行预处理和校正,通过图像对的立体匹配来获取视差图像,最后对视差图像进行分割。该算法将分割的依据和信息从二维图像的颜色、形状、纹理等扩展到三维空间的深度,对空间距离不同的目标具有较好的分割效果。实验表明,对获取的视差图像进行基于区域的分割时,其区域间灰度对比度为0.98,目标计数一致性达到0.90;进行基于边缘的分割时,其边缘检测误差为5.74%,因此,该方法对重叠果实区域的分割是有效的。
Peng Hui  Wu Pengfei  Zhai Ruifang  Liu Shanmei  Wu Lanlan  Jing Xiu
Huazhong Agricultural University;Huazhong Agricultural University;Huazhong Agricultural University;Huazhong Agricultural University;Huazhong Agricultural University;Huazhong Agricultural University
Key Words:Overlapping fruits, Binocular stereo vision, Disparity map, Image segmentation
Abstract:To solve the problem of segmentation for overlapping fruits, an image segmentation algorithm based on disparity map was developed. Firstly, binocular stereo images were obtained by binocular stereo vision system. Then, these images were preprocessed and rectified. Thirdly, stereo matching for rectified images pair to get disparity values for every pixel was made. At last, the disparity map was generated. Distance information in 3-D space was added to algorithm besides color, shape and texture information in 2-D space, so the fruits with different distances in actual space were segmented better in disparity map than in normal image. Experimental results showed that the accuracy of segmentation for disparity map by area-based method was 0.90, and the edge detection error was 5.74%. The proposed method was valid for segmentation of overlapping fruits. 

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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