摘要： 根据颜色特征利用阈值自动设定的方法对图像进行分割,自动、快速识别红色番茄;采用形心匹配取代常规的特征点选择和匹配方法,对双目立体成像测距公式进行了修正,经过验证,当工作距离小于500mm时,距离误差可以控制在±10mm以内。

关键词: 计算机视觉, 定位, 双目立体视觉

Abstract: In this paper, a new method is presented to locate tomatoes from nature background. Color information is used to segment image and th threshold used is selected based on the current image. According to the results of the discriminating and by use of binocular stereo vision technique, th 3-D position of the fruit could be got. In the process of position locating, centroid-mathing is recommended to displace the common object-mathing. A the same time, the formula based on binocular stereo vision to measure distance is revised. The result shows that when the work distance is less tha 500mm, almost all the errors are less than 10mm.

中图分类号: 

• TP391.41