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Research on Recognizing and Locating Tomatoes Base on Binocular Stereo Vision Technology

Author: WangYuHan
Tutor: JinBo
School: Zhejiang University
Course: Mechanical and Electronic Engineering
Keywords: Stereo vision Image processing Target recognition Support Vector Machine Targeting
CLC: TP391.41
Type: Master's thesis
Year: 2012
Downloads: 71
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Abstract


Fruit automatic identification and positioning the picking robot should have the necessary functions, and only on the basis of accurate identification and location of, in order to prepare for the next picking. The fruit automatic identification and location involved a wide range of related technologies, including image processing, pattern recognition, stereo vision. The main contents of the topic: the eyes shooting tomato image stereo vision system calibration, image processing, the use of pattern recognition theory recognizes targets to complete the three-dimensional visual images match, the disparity map, and then get the goal of the three-dimensional information. Chapter 1 of this paper: First, the main significance of the research, made a presentation, and then describes the visual recognition technology at home and abroad of the status quo and development trends, as well as the visual recognition process, and analysis of the underlying processing, intermediate processing, advanced processing three visual recognition level, summarized the identification method and space orientation. Discusses the main content of the research, the key technology and technology roadmap. Chapter 2: The subject of the use of binocular stereo vision system basic component description of the radial distortion and nonlinear factors to consider in the camera pinhole imaging model basis. Subject requirements, and based on the existing conditions of the experiment, using the the plane template calibration method calibration binocular camera, internal and external camera parameters. In addition, the basic conditions of binocular stereo vision principle of the subsequent three-dimensional reconstruction and positioning. Chapter 3: image preprocessing important step in front of the target recognition the combined subject the actual requirements, briefly the basic process of image processing, including: morphological processing, object contour edge detection, image segmentation, to lay the foundation for the subsequent target recognition . Color, outline, texture, and other identifying feature extracted from the image as input to the support vector machine (SVM) identification. Prior to the application of SVM classifier using sample data for training, the use of cross-validation and grid search technology to optimize the SVM RBF kernel parameters, and then shooting the tomato image for SVM classifier recognition experiments, analysis of the experimental results and proposed a multi- class to identify the direction. Chapter 4; the perspective transformation method to achieve image correction, binocular stereo vision standard epipolar geometry, with regional matching algorithm based on error energy minimization complete image corresponding point matching to generate a disparity map, a three-dimensional reconstruction technology , the final of tomato target is calculated by the disparity map three-dimensional coordinate information. Chapter 5; summarizes the main conclusions of this research, the research direction of the subsequent work were prospected.

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CLC: > Industrial Technology > Automation technology,computer technology > Computing technology,computer technology > Computer applications > Information processing (information processing) > Pattern Recognition and devices > Image recognition device
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