项 荣,应义斌,蒋焕煜.田间环境下果蔬采摘快速识别与定位方法研究进展[J].农业机械学报,2013,44(11):208-223.
Xiang Rong,Ying Yibin,Jiang Huanyu.Development of Real-time Recognition and Localization Methods for Fruits and Vegetables in Field[J].Transactions of the Chinese Society for Agricultural Machinery,2013,44(11):208-223.
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田间环境下果蔬采摘快速识别与定位方法研究进展   [下载全文]
Development of Real-time Recognition and Localization Methods for Fruits and Vegetables in Field   [Download Pdf][in English]
  
DOI:10.6041/j.issn.1000-1298.2013.11.037
中文关键词:  田间 果蔬 采摘机器人 识别 定位
基金项目:国家自然科学基金资助项目(61105024)和 “十二五”国家科技支撑计划资助项目(2011BAD20B12)
作者单位
项 荣 浙江大学
中国计量学院 
应义斌 浙江大学
农业部设施农业装备与信息化重点实验室 
蒋焕煜 浙江大学
农业部设施农业装备与信息化重点实验室 
中文摘要:作为实现果蔬采摘作业自动化的关键难题之一,田间环境下的果蔬快速识别与定位受到了广泛的关注。综述了常见的果蔬识别硬件系统和识别算法;总结和分析了果蔬图像预处理、颜色特征选择、图像分割算法设计及图像后处理的研究;综述了常见果蔬识别算法、成簇果蔬识别算法及被遮挡果蔬识别算法的研究;分析和比较了果蔬定位中常用的有源测距法和无源测距法,以及果蔬无源测距中常见的立体匹配算法。分析了田间环境下果蔬识别和定位研究存在的主要问题,并展望了发展趋势。
Xiang Rong  Ying Yibin  Jiang Huanyu
Zhejiang University;China Jiliang University;Zhejiang University;Key Laboratory of Equipment and Informatization in Environment Controlled Agriculture;Zhejiang University;Key Laboratory of Equipment and Informatization in Environment Controlled Agriculture
Key Words:Field Fruit and vegetable Harvesting robot Recognition Localization
Abstract:As one of the key problem for the robotic harvesting, the real-time recognition and localization of fruits and vegetables in field have drawn wide attention. First, the development of common hardware and algorithms for the recognition of fruits and vegetables was reviewed. For the image segmentation of fruits and vegetables, researches on image preprocessing, color feature selecting, image segmentation designing and image post processing were summarized and analyzed. For the recognition of fruits and vegetables, researches on common algorithms, recognition algorithms for clustered objects and for occluded objects were reviewed. Second, active and passive range finder methods which have been used commonly in the localization of fruits and vegetables were analyzed and compared. Moreover, stereo matching methods used in the passive range finder methods for fruits and vegetables were analyzed and compared, too. Finally, existing problems in researches on the recognition and localization for fruits and vegetables in field were analyzed, and research prospects were also presented.

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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