In recent years, many agriculture-related problems have been evaluated with the integration of artificial intelligence techniques and remote sensing systems. The rapid and accurate identification of apple targets in an illuminated and unstructured natural orchard is still a key challenge for the picking robot’s vision system. In this paper, by combining local image features and color information, we propose a pixel patch segmentation method based on gray-centered red–green–blue (RGB) color space to address this issue. Different from the existing methods, this method presents a novel color feature selection method that accounts for the influence of illumination and shadow in apple images. By exploring both color features and local variation in apple images, the proposed method could effectively distinguish the apple fruit pixels from other pixels. Compared with the classical segmentation methods and conventional clustering algorithms as well as the popular deep-learning segmentation algorithms, the proposed method can segment apple images more accurately and effectively. The proposed method was tested on 180 apple images. It offered an average accuracy rate of 99.26%, recall rate of 98.69%, false positive rate of 0.06%, and false negative rate of 1.44%. Experimental results demonstrate the outstanding performance of the proposed method.
In the vision system of apple-picking robots, the main challenge is to rapidly and accurately identify the apple targets with varying halation and shadows on their surfaces. To solve this problem, this study proposes a novel, multi-feature, patch-based apple image segmentation technique using the gray-centered red–green–blue (RGB) color space. The developed method presents a multi-feature selection process, which eliminates the effect of halation and shadows in apple images. By exploring all the features of the image, including halation and shadows, in the gray-centered RGB color space, the proposed algorithm, which is a generalization of K-means clustering algorithm, provides an efficient target segmentation result. The proposed method is tested on 240 apple images. It offered an average accuracy rate of 98.79%, a recall rate of 99.91%, an F1 measure of 99.35%, a false positive rate of 0.04%, and a false negative rate of 1.18%. Compared with the classical segmentation methods and conventional clustering algorithms, as well as the popular deep-learning segmentation algorithms, the proposed method can perform with high efficiency and accuracy to guide robotic harvesting.
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