基于条纹投影的苹果果梗/花萼识别方法

doi:10.3969/j.issn.1004-1524.2021.08.17

浙江农业学报 ›› 2021, Vol. 33 ›› Issue (8): 1497-1504.DOI: 10.3969/j.issn.1004-1524.2021.08.17

基于条纹投影的苹果果梗/花萼识别方法

蔡家旭¹(), 王飞¹, 奚冬冬¹, 刘路¹^,², 王玉伟¹^,²^,^*()

1.安徽农业大学工学院,安徽合肥 230036
2.安徽省智能农机装备工程实验室,安徽合肥 230036

收稿日期:2021-02-24 出版日期:2021-08-25 发布日期:2021-08-27
通讯作者: 王玉伟
作者简介:*王玉伟,E-mail: wyw@ahau.edu.cn
蔡家旭(2000—),男,安徽阜阳人,本科生,主要从事农业机器视觉方面的研究。E-mail: 632404519@qq.com
基金资助:
国家自然科学基金(51905005);安徽省自然科学基金(2008085QF318);安徽农业大学研究生创新基金(2021yjs-47)

Apple stem/calyx recognition based on fringe projection

CAI Jiaxu¹(), WANG Fei¹, XI Dongdong¹, LIU Lu¹^,², WANG Yuwei¹^,²^,^*()

1. School of Engineering, Anhui Agricultural University, Hefei 230036, China
2. Anhui Province Engineering Laboratory of Intelligent Agricultural Machinery and Equipment, Hefei 230036, China

Received:2021-02-24 Online:2021-08-25 Published:2021-08-27
Contact: WANG Yuwei

摘要/Abstract

摘要：

为避免苹果果梗/花萼区域对表面缺陷检测造成干扰,提出一种苹果果梗/花萼识别方法。首先,利用相移条纹投影技术,通过数学变换思想模拟多角度下参考平面的偏转相位,将苹果的绝对相位减去参考平面的偏转相位,获得多角度下苹果的相位高度图;然后,根据果梗/花萼区域的凹形特征,利用灰度形态学算法对相位高度图进行填充,获得相位填充图;最后,将相位填充图与相位高度图相减获得相位差值图,通过阈值分割操作便可准确定位到果梗/花萼区域。实验结果表明,所提方法能够有效地识别出不同位置的苹果果梗/花萼区域,具有良好的稳健性和适用性,识别率达到97.33%。

关键词: 条纹投影, 苹果, 相位, 形态学

Abstract:

To avoid the interference of apple stem/calyx area on its surface defect detection, an apple stem/calyx recognition method is proposed in the present assay. Firstly, by taking use of phase-shifting fringe projection technology, the deflection phases of the reference plane under multiple angles are simulated with mathematical transformation. Secondly, the phase-height images under multiple angles are obtained by subtracting the deflection phases from the absolute phase of the apple. Based on the concavity characteristic of the stem/calyx, the phase-height images are filled with morphological grayscale algorithm to obtain the phase filled images. Finally, the phase difference images are computed by subtracting the phase-height images from the phase filled images, then the stem/calyx area can be accurately located through threshold segmentation. The experimental results demonstrate that the proposed method can effectively recognize the stem/calyx area of apple at different positions, and has good robustness and applicability with the recognition accuracy of 97.33%.

Key words: fringe projection, apple, phase, morphology

中图分类号:

TP391

蔡家旭, 王飞, 奚冬冬, 刘路, 王玉伟. 基于条纹投影的苹果果梗/花萼识别方法[J]. 浙江农业学报, 2021, 33(8): 1497-1504.

CAI Jiaxu, WANG Fei, XI Dongdong, LIU Lu, WANG Yuwei. Apple stem/calyx recognition based on fringe projection[J]. Acta Agriculturae Zhejiangensis, 2021, 33(8): 1497-1504.

图/表 7

图1 条纹投影系统实物图

Fig.1 Photograph of fringe projection system

图2 系统测量原理图

Fig.2 Principle of measurement system

图3 灰度形态学填充原理图

Fig.3 Schematic of filling operation of grayscale morphology

图4 果梗/花萼区域填充示意图 a、c分别为苹果的相位高度图,及对应的中心线轮廓;b、d分别为苹果的相位填充图,及对应的中心线轮廓;e、f分别为苹果的相位差值图,及对应的中心线轮廓。

Fig.4 Schematic of stem/calyx area filling a, c indicated the phase height image of apples, and the corresponding centerline profile, respectively; b, d indicated the phase filled image of apples, and the corresponding centerline profile, respectively; e, f indicated the phase difference image of apples, and the corresponding centerline profile, respectively.

图5 多角度下相位填充示意图

Fig.5 Schematic of phase filling under multiple angles

图6 果梗/花萼识别结果 a,苹果原始图像;b,相位高度图;c,带轮廓边缘的相位差值图;d,识别结果图。

Fig.6 Stem and calyx recognition results a, Original apple images; b, Phase height images; c, Phase difference images with edge; d, Recognition results.

表1 果梗/花萼识别率统计结果

Table 1 Statistical results of stem/calyx recognition accuracy

样本类别 Category	样本数 Sample size	正确样本数 Correct sample size	正确率 Correct rate/%
(1)	162	157	96.91
(2)	38	38	100
(3)	65	64	98.46
(4)	35	33	94.29
合计Total	300	292	97.33

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基于条纹投影的苹果果梗/花萼识别方法

Apple stem/calyx recognition based on fringe projection

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