Identification of mature grape bunches using image processing and computational intelligence methods

Due to frost and insufficient exposure to sunlight, some grape bunches remain undeveloped during harvesting. For automation of harvesting, it is required to automatically identify the mature grape bunches. This paper presents a sequence of image processing and computational intelligence methods to identify mature grape bunches. It´s a two-step process where in the first step the grape bunches are separated from the background of an image and in the second step the grape bunch is classified into mature and undeveloped group. We achieved 96.88% accuracy on the images obtained from a strip of vineyard in Cambridge, Tasmania.