名优绿茶嫩芽识别与定位方法研究.PDF

安徽农业大学学报, 2016, 43(5): 676-681 Journal of Anhui Agricultural University [DOI] 10.13610/ki.1672-352x023 网络出版时间：2016-9-29 10:27:50 [URL] /kcms/detail/34.1162.S1027.046.html 名优绿茶嫩芽识别与定位方法研究 袁加红，张中正，朱德泉*，侯 建，朱永宽，裴 韶，刘 鹏 (安徽农业大学工学院，合肥 230036) 摘 要：由于人工采摘名优绿茶效率太低，严重制约了名优绿茶产业的发展。研究具有选择性且能快速准确采 摘名优绿茶的智能系统迫在眉睫。而嫩芽识别和定位则是实现名优绿茶机械采摘的前提，因此，开展了名优绿茶嫩 芽识别与定位方法的研究。基于 RGB 颜色空间采用三基色以及组合因子对图像进行灰度化处理，利用维??滤波和 梯度增强技术对处理后的图像进行滤波去噪，采用大津法和迭代法分割图像获取二值图像；借助 MATLAB 软件对 相机进行标定处理获取各项内外参数，然后采用质心法对目标进行定位。结果表明，利用 G-B 索引因子结合迭代 法能较大程度地识别出嫩芽目标，采用张氏标定法能在误差要求范围内对目标质心进行定位，且实时性较高。 关键词：G-B 因子；目标识别；摄像机标定；深度恢复 中图分类号：S126; S571.1 文献标识码：A 文章编号：1672?352X (2016)05?0676?06 Approach for recognition and positioning of tea shoots YUAN Jiahong, ZHANG Zhongzheng, ZHU Dequan, HOU Jian, ZHU Yongkuan, PEI Shao, LIU Peng (School of Engineering, Anhui Agricultural University, Hefei 230036) Abstract: Nowadays the low efficiency of manual tea plucking is the main constraint to the development of tea industry. An intelligent plucking machine that can selectively pluck the tea shoots will increase the plucking efficiency. The key part of the machine is the one for recognition and positioning of tea shoots that should be plucked. Firstly, in the RGB color space, R, G and B indexes and their combination were applied to two gray proc- essing of images of the same tea tree which had been captured from different visual angles. The image enhancing method and wiener filtering were conducted. The Otsu and interative methods were used to segment the images and the centroid po