Abstract
Artificial vision systems are powerful tools for the automatic guiding of fruit harvesting robots, novel method based on brightness map and chromatic aberration map was developed to identify citrus fruit with glare within a tree canopy. Ten images of citrus-grove scene under direct sunlight were taken, the color properties of target objects were analyzed. First, parts of citrus fruits from background were segmented from background by thresholding the CAM(chromatic aberration then the citrus fruit with glare could be detected correctly from the tree canopy by thresholding the LM(luminance map), at last the citrus fruis could be detected integrally by fusing the segmented results of CAM and LM. The results showed that the glaring fruits under direct sunlight could be identified wholly using this method, the detection accuracies by fusing method was up to 88.20%.
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