A Dynamic Threshold Segmentation Algorithm for Cucumber Identification in Greenhouse

Aiming at realizing cucumber identification and location for cucumber harvesting robot in greenhouse, a segmentation algorithm for cucumber image was presented. Using M (M=2G) component as the threshold segmentation channel, choosing an initial threshold to segment the images. The threshold was dynamic revised based on shape characteristics of cucumber fruits after the initial segmentation threshold was judged. The pixel region which did not belong to fruit was removed by erosion and dilation using structure elements. Final segmentation images were obtained after region marking. Thirty images were tested to verify the correctness of the algorithm, and twenty-three images were segmented correctly with satisfactory results. Experimental results show that the segmentation success rate is 76.7%, and the segmentation effect is acceptable which can be used in greenhouse cucumber identification.