期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2016
卷号：13
期号：1
页码：24
DOI：10.5772/62265
语种：English
出版社：SAGE Publications
摘要：In order to resolve the poor real-time performance problem of the normalized cut (Ncut) method in apple vision recognition of picking robots, a fast segmentation method of colour apple images based on the adaptive mean-shift and Ncut methods is proposed in this paper. Firstly, the traditional Ncut method based on pixels is changed into the Ncut method based on regions by the adaptive mean-shift initial segmenting. In this way, the number of peaks and edges in the image is dramatically reduced and the computation speed is improved. Secondly, the image is divided into regional maps by extracting the R-B colour feature, which not only reduces the quantity of regions, but also to some extent overcomes the effect on illumination. On this basis, every region map is expressed by a region point, so the undirected graph of the R-B colour grey-level feature is attained. Finally, regarding the undirected graph as the input of Ncut, we construct the weight matrix W by region points and determine the number of clusters based on the decision-theoretic rough set. The adaptive clustering segmentation can be implemented by an Ncut algorithm. Experimental results show that the maximum segmentation error is 3% and the average recognition time is less than 0.7s, which can meet the requirements of a real-time picking robot.
关键词：Picking Robot; Normalized Cut Segmentation; Colour Apple Images; Adaptive Mean-shift
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