Title :
Positioning Technology of Apple-Picking Robot Based on OpenCV
Author :
Jian, Li ; Chengyan, Zhang ; Shujuan, Cui
Author_Institution :
Shaanxi Univ. of Sci. & Technol., Xi´´an, China
fDate :
July 31 2012-Aug. 2 2012
Abstract :
To improve the positioning accuracy of the vision system for apple-picking robot, a method characterized by a marker to recover the spatial location of the apple is proposed. Then the spatial location of the apple obtained with the stem as the matched point is accomplished to get its corresponding depth value of different working distances. Finally, the measured distance with the marker is as a reference to analyze error for stem ranging. The result shows that the average relative error with the marker is 0.63% while that with the stem is 2.97% when the working distance is in range of 300-900mm, which can meet the requirements of apple picking robot in most working circumstances.
Keywords :
position control; robot vision; service robots; stereo image processing; OpenCV; apple-picking robot; binocular stereo vision; computer vision; fruit picking robot; positioning accuracy; positioning technology; stereo matching; Accuracy; Cameras; Distance measurement; Error analysis; Feature extraction; Robots; Stereo vision; 3D Localization; Apples; Binocular Vision; Stereo Matching;
Conference_Titel :
Digital Manufacturing and Automation (ICDMA), 2012 Third International Conference on
Conference_Location :
GuiLin
Print_ISBN :
978-1-4673-2217-1
DOI :
10.1109/ICDMA.2012.146
