Fast Segmentation of Colour Apple Image under All-Weather Natural Conditions for Vision Recognition of Picking Robots. (11th February 2016)
- Record Type:
- Journal Article
- Title:
- Fast Segmentation of Colour Apple Image under All-Weather Natural Conditions for Vision Recognition of Picking Robots. (11th February 2016)
- Main Title:
- Fast Segmentation of Colour Apple Image under All-Weather Natural Conditions for Vision Recognition of Picking Robots
- Authors:
- Ji, Wei
Meng, Xiangli
Tao, Yun
Xu, Bo
Zhao, Dean - Abstract:
- In order to resolve the poor real-time performance problem of the normalized cut (Ncut) method in apple vision recognition of picking robots, a fast segmentation method of colour apple images based on the adaptive mean-shift and Ncut methods is proposed in this paper. Firstly, the traditional Ncut method based on pixels is changed into the Ncut method based on regions by the adaptive mean-shift initial segmenting. In this way, the number of peaks and edges in the image is dramatically reduced and the computation speed is improved. Secondly, the image is divided into regional maps by extracting the R-B colour feature, which not only reduces the quantity of regions, but also to some extent overcomes the effect on illumination. On this basis, every region map is expressed by a region point, so the undirected graph of the R-B colour grey-level feature is attained. Finally, regarding the undirected graph as the input of Ncut, we construct the weight matrix W by region points and determine the number of clusters based on the decision-theoretic rough set. The adaptive clustering segmentation can be implemented by an Ncut algorithm. Experimental results show that the maximum segmentation error is 3% and the average recognition time is less than 0.7s, which can meet the requirements of a real-time picking robot.
- Is Part Of:
- International journal of advanced robotic systems. Volume 13:Number 1(2016)
- Journal:
- International journal of advanced robotic systems
- Issue:
- Volume 13:Number 1(2016)
- Issue Display:
- Volume 13, Issue 1 (2016)
- Year:
- 2016
- Volume:
- 13
- Issue:
- 1
- Issue Sort Value:
- 2016-0013-0001-0000
- Page Start:
- Page End:
- Publication Date:
- 2016-02-11
- Subjects:
- Picking Robot -- Normalized Cut Segmentation -- Colour Apple Images -- Adaptive Mean-shift
Robotics -- Periodicals
Robotics
Periodicals
629.892 - Journal URLs:
- http://arx.sagepub.com/ ↗
http://search.epnet.com/direct.asp?db=bch&jid=13CR&scope=site ↗
http://www.intechweb.org/journal.php?id=3 ↗
http://www.uk.sagepub.com/home.nav ↗ - DOI:
- 10.5772/62265 ↗
- Languages:
- English
- ISSNs:
- 1729-8806
- Deposit Type:
- Legaldeposit
- View Content:
- Available online (eLD content is only available in our Reading Rooms) ↗
- Physical Locations:
- British Library DSC - BLDSS-3PM
British Library HMNTS - ELD Digital store - Ingest File:
- 7426.xml