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基于視差圖像的重疊果實(shí)圖像分割算法
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國(guó)家自然科學(xué)基金資助項(xiàng)目（41101409）和中央高?；究蒲袠I(yè)務(wù)費(fèi)專項(xiàng)資金資助項(xiàng)目（2011JC020）


Image Segmentation Algorithm for Overlapping Fruits Based on Disparity Map
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    摘要:

    為解決自動(dòng)采摘視覺系統(tǒng)中重疊果實(shí)的分割問(wèn)題,，提出了基于視差圖像的果實(shí)分割算法。采用雙目立體視覺系統(tǒng)獲取圖像對(duì)，對(duì)圖像對(duì)進(jìn)行預(yù)處理和校正，通過(guò)圖像對(duì)的立體匹配來(lái)獲取視差圖像，最后對(duì)視差圖像進(jìn)行分割,。該算法將分割的依據(jù)和信息從二維圖像的顏色,、形狀,、紋理等擴(kuò)展到三維空間的深度,，對(duì)空間距離不同的目標(biāo)具有較好的分割效果。實(shí)驗(yàn)表明,，對(duì)獲取的視差圖像進(jìn)行基于區(qū)域的分割時(shí),，其區(qū)域間灰度對(duì)比度為0.98，目標(biāo)計(jì)數(shù)一致性達(dá)到0.90,；進(jìn)行基于邊緣的分割時(shí),，其邊緣檢測(cè)誤差為5.74%，因此,，該方法對(duì)重疊果實(shí)區(qū)域的分割是有效的,。

    Abstract:

    To solve the problem of segmentation for overlapping fruits, an image segmentation algorithm based on disparity map was developed. Firstly, binocular stereo images were obtained by binocular stereo vision system. Then, these images were preprocessed and rectified. Thirdly, stereo matching for rectified images pair to get disparity values for every pixel was made. At last, the disparity map was generated. Distance information in 3-D space was added to algorithm besides color, shape and texture information in 2-D space, so the fruits with different distances in actual space were segmented better in disparity map than in normal image. Experimental results showed that the accuracy of segmentation for disparity map by area-based method was 0.90, and the edge detection error was 5.74%. The proposed method was valid for segmentation of overlapping fruits. 

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彭輝,吳鵬飛,翟瑞芳,劉善梅,吳蘭蘭,景秀.基于視差圖像的重疊果實(shí)圖像分割算法[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2012,43(6):167-173. Peng Hui, Wu Pengfei,Zhai Ruifang,Liu Shanmei, Wu Lanlan, Jing Xiu. Image Segmentation Algorithm for Overlapping Fruits Based on Disparity Map[J]. Transactions of the Chinese Society for Agricultural Machinery,2012,43(6):167-173.

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  • 在線發(fā)布日期: 2012-06-19
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