查詢結果分析
來源資料
頁籤選單縮合
題名 | Automatic Search and Location of Fruit on the Tree=樹果自動搜尋與定位之研究 |
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作者 | 李芳繁; 施清德; | 書刊名 | 農業工程學報 |
卷期 | 41:4 1995.12[民84.12] |
頁次 | 頁74-89 |
分類號 | 434.251 |
關鍵詞 | 立體視覺; 影像處理; 自動搜尋; 樹果; Stereo vision; Image processing; Automatic search; Tree fruit; |
語文 | 英文(English) |
中文摘要 | 本研究使用三個步進馬達及減速齒輪組,製造由作者自行設計之攝影機定向機構。本定向機構在與立體機器視覺系統結合後,在實驗室內控制照度的環境下,進行樹果自動搜尋與3-D定位之研究。在樹果搜尋方面,使用了影像分割、侵蝕、膨脹及標記等影像處理方法。在影像分割時係使用紅色和色相影像。在3-D定位方面,使用了攝影機像距,水平轉軸、俯仰轉軸及聚焦轉軸之角度,以及攝影機的相對位置等參數。樣板比對法被用來找尋右影像與左影像間之對應點。樹果搜尋成功率約為93%,而X、Y與Z軸之平均定位誤差均小於5%。定位一粒樹果約需時1分41秒。 |
英文摘要 | A camera-pointing device was designed and fabricated using three stepping motors and reduction gears. This device was integrated with the stereo machine vision system and was employed to perform automatic tree fruit searching and 3-D locating tasks in the laboratory under controlled illumination. In fruit searching aspect, image segmentation, erosion, dilation, and labeling operations were used. The red and hue images were utilized for image segmentation. In 3-D locating aspect, parameters such as the image distances of the cameras, the angles of pan, tilt, and vergence, the relative positions of the cameras were needed. The template matching method was employed to find the corresponding points in the right and left images. The success rate of fruit searching was about 93%. The average 3-D locating errors were all less than 5% for the X, Y, and Z axes. It took approximately 1 minute and 41 seconds to locate a fruit. |
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