Real-time tree model reconstructing for fruit harvesting robot system

Based on OpenGL, the real-time reconstruction of the fruit tree¿s model was built. The shape of tree¿s trunk and branch, which are the main obstacles for harvesting task in a fruit harvesting robot system, can be simplified as a combination of different cylinder modules overlap in the obstacle-avoidance. Even at the branch node, the module can be used. The cylinder perspective law is employed to get the cylinder¿s diameter. Supported by on-line image-gathering and analyzing system, the cylinder diameter¿s coordinate is easier to get. Calculate the coordinate value of points which divide the circle into 12 equal parts, and then use polygonal approximation to construct the modules. Eventually the whole tree is reconstructed to supply farther work of obstacle-avoidance with virtual scene. The experimental results illustrated that, for the mid-complicated tree modeling, the reconstruction method can yield a real-time model.