Detecting citrus fruits with shadow within tree canopy by a fusing method

In order to guide the robots for harvesting citrus fruit, a method based on hue map and chromatic aberration map was developed to detect citrus fruits with shadow within tree canopy.Thirteen color images of natural citrus-grove scene were photoed, and the color properties of target objects were analyzed. A rule for segmenting citrus fruit from background was put forward that the pixel belongs to citrus fruits if the value of R subtracted by B is larger than the threshold value(T),and the citrus fruit with shadow can be detected correctly from the tree canopy by fusing the segmented results of hue map. The results show that the fruits with shadow can be identified integrally using the proposed method.