Visual recognition system of cherry picking robot based on Lab color model

[摘要] This paper designs a visual recognition system suitable for cherry picking. First, the system deals with the image using the vector median filter. And then it extracts a channel of Lab color model to divide the cherries and the background. The cherry contour was successfully fitted by the least square method, and the centroid and radius of the cherry were extracted. Finally, the cherry was successfully extracted.

[发布机构] Information Engineering, Guizhou University of Engineering Science, Bijie Guizhou; 551700, China^1

[关键词] Color modeling;Least square methods;Picking robot;Vector median filters;Visual recognition