Apple binocular visual identification and positioning system

Abstract

In order to realize the autonomous recognition and location of apple, an apple recognition and location system based on LabVIEW software, IMAQ Vision kit and binocular Vision was designed in the work. The system identified apples on the trees by background subtraction based on difference of surface color, object identification based on circle and binocular stereo measurement of the apples on trees. The results showed that the system has accomplished image acquisition, preprocessing, recognition and depth recovery, realizing the positioning of apple on LabVIEW. The system can be transplanted into the fully automatic picking system to pick apples more accurately and quickly.