Overlapped Apple Fruit Yield Estimation using Pixel Classification and Hough Transform

Abstract

Researchers proposed various visual based methods for estimating the fruit quantity and performing qualitative analysis, they used ariel and ground vehicles to capture the fruit images in orchards. Fruit yield estimation is a challenging task with environmental noise such as illumination changes, color variation, overlapped fruits, cluttered environment, and branches or leaves shading. In this paper, we proposed a learning free fast visual based method to correctly count the apple fruits tightly overlapped in a complex outdoor orchard environment. We first carefully build the color based HS model to perform the color based segmentation. This step extracts the apple fruits from the complex orchard background and produces the blobs representing apples along with the additional noisy regions. We used the fine tuned morphological operators to refine the blobs received from the previous step and remove the noisy regions fol-lowed by the Gaussian smoothing. Finally we treated the circular shaped blobs with Hough Transform algorithm to calculate the center coordinates of each apple edge and the method correctly locates the apples in the images. The results ensures the proposed algorithm successfully detects and count apple fruits in the images captured from apple orchard and outperforms the standard state of the art contoured based method.