Abstract
In order to guide the robots for harvesting citrus fruits, method based on normalized RGB model and chromatic aberration map was developed to detect citrus fruits with shadow within tree canopy. Several images of natural citrus-grove scene were photoed, and the color properties of target objects were analyzed. A rule for segmenting citrus fruits from background was put forward by fusing the segmented results of the normalized R channel map and the chromatic aberration map of R and B channels. The results show that the fruits with shadow can be detected integrally using the proposed method.
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