Journal
MACHINE VISION AND APPLICATIONS
Volume 13, Issue 2, Pages 70-79Publisher
SPRINGER-VERLAG
DOI: 10.1007/PL00013271
Keywords
fruit harvesting; color clustering; stereo matching; visual tracking
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The orange picking robot (OPR) is a project for developing a robot that is able to harvest oranges automatically. One of the key tasks in this robotic application is to identify the fruit and to measure its location in three dimensions. This should be performed using image processing techniques which must be sufficiently robust to cope with variations in lighting conditions and a changing environment. This paper describes the image processing system developed so far to guide automatic harvesting of oranges, which here has been integrated in the first complete full-scale prototype OPR.
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