Research on Localization of Apples Based on Binocular Stereo Vision Marked by Cancroids Matching

In order to enhance the localization accuracy of apple-picking robots´ vision system, a method based on binocular stereo vision technology marked by cancroids matching was proposed. Key problems such as camera calibration, characteristics extraction and 3D coordinate´s calculation were analyzed. The distances between apples and cameras were measured with the proposed method under different circumstances. Experimental results showed that the average relative error was about 3.54% with the help of matched cancroids when the working distance ranged between 300-1000mm. This can meet the needs of vision system of apple picking robot in most picking environments.