A Real-Time Pineapple Matching System Based on Speeded-Up Robust Features

Author

Li, Bin ; Wang, Maohua ; Li, Li

Author_Institution

China Agric. Univ., Beijing, China

fYear

2010

fDate

11-14 Dec. 2010

Firstpage

243

Lastpage

247

Abstract

Real-time and accurate image matching is a key to stereo vision of agricultural harvesting robots. This research is part of a pineapple harvesting robot project. In this paper, pineapples were selected as research objects and low cost binocular vision platform was constructed, fruit area of left image was got by real-time image acquisition and rapid segmentation, rapid matching of fruit area in left image with the integral right image was done by employing SURF (Speeded-Up Robust Features) algorithm. The algorithm was programmed and tested in VC++ software and the results showed that, the segmentation cost 0.017s and the real-time matching performed well. Compared with other agricultural harvesting robots´ research, area matching and real-time matching were well-realized.

Keywords

C++ language; agricultural engineering; agricultural machinery; agricultural products; image matching; image segmentation; industrial robots; production engineering computing; robot vision; stereo image processing; SURF; VC++ software; agricultural harvesting robots; binocular vision; fruit area; image matching; pineapple harvesting robot project; rapid segmentation; real-time image acquisition; real-time pineapple matching system; research objects; speeded-up robust features; stereo vision; SURF; image processing; pineapple harvesting robot; stereo matching;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence and Security (CIS), 2010 International Conference on

Conference_Location

Nanning

Print_ISBN

978-1-4244-9114-8

Electronic_ISBN

978-0-7695-4297-3

Type

conf

DOI

10.1109/CIS.2010.59

Filename

5696272