Automatic fruit recognition: a survey and new results using Range/Attenuation images

摘要

An automatic fruit recognition system and a review of previous fruit detection work are reported. The methodology presented is able to recognize spherical fruits in natural conditions facing difficult situations: shadows, bright areas, occlusions and overlapping fruits. The sensor used is a laser range-finder giving range/attenuation data of the sensed surface. The recognition system uses a laser range-finder model and a dual color/shape analysis algorithm to locate the fruit. The three-dimensional position of the fruit, radius and the reflectance are obtained after the recognition stages. Results for a set of artificial orange tree images and real-time considerations are presented.