Research On Recognition And Location Of Lingwu Long Jujube Based On Binocular Stereo Vision

As an important economic fruit in Ningxia,Lingwu long jujube has been vigorously developed locally.So the planting area has gradually increased every year.In order to reduce the labor of traditional inefficient manual picking and to achieve efficient automatic picking technology,this paper focused on the three-dimensional reconstruction and the recognition and location of Lingwu long jujube based on binocular stereo vision.The research content and results of this paper are as follows:1?A three-dimensional reconstruction platform based on binocular stereo vision was developed including an improved Tsai camera calibration method was proposed,and the SURF algorithm,sparse matching of feature points based on polar line constraints and dense matching based on region growing were realized.2?According to the basic characteristic of Lingwu long jujube is an ellipsoidal surface,a method based on the framework of random sampling consistency(RANSAC)for recognition and location of Lingwu long jujube was proposed.Based on the color histogram of the image in the HSV space,the size and shape of jujube,Lingwu long jujube was extracted initially by using the region of interest.9 points were sampled from the point cloud and the quadratic surface equation of Lingwu long jujube shape was fitted by using the least squares method.The invariants of quadratic surface were calculated and the type of quadric surface was determined based on the coefficients.Combined with the ellipsoid eigenvalues,the radius and the coordinate of center point of Lingwu long jujube were solved to determine the position and posture of Lingwu long jujube in three-dimensional space,and then the recognition and location of Lingwu long jujube is realized.Finally,a comprehensive evaluation of size errors,location accuracy,and success rate of recognition was conducted by grouping experiments.On the three-dimensional point cloud level,this paper proposed a new idea for the recognition and location of Lingwu long jujube based on binocular stereo vision.The point cloud of Lingwu long jujube can be segmented correctly in the experiment,which verified the feasibility of the new idea in the application of the fruit picking robot.