Target extraction study on the vision system of apple picking robot

Abstract

This paper studied the color images of mature apple in natural environment, there is a general distinction between mature apple's color and the background. Apple and background distributed in different area of color space. According to this characteristic, this paper proposed an object extraction algorithm based on sample color space. First we construct the sample color space in L*a*b*space by using apple samples' image and using mathematical morphology to optimized it. Then recognised the apple target according to the sample color space. For the small target of depth of field and serious keep out targets, we make them into binarized images and use morphology structure element again to processing them. At last we got the ideal segmentation effect with high recognition rate. © 2013 Springer-Verlag.