Research on Localization of Apples Based on Binocular Stereo Vision Marked by Cancroids Matching

Abstract

In order to enhance the localization accuracy of apple-picking robots' vision system, a method based on binocular stereo vision technology marked by cancroids matching was proposed. Key problems such as camera calibration, characteristics extraction and 3D coordinate's calculation were analyzed. The distances between apples and cameras were measured with the proposed method under different circumstances. Experimental results showed that the average relative error was about 3.54% with the help of matched cancroids when the working distance ranged between 300-1000mm. This can meet the needs of vision system of apple picking robot in most picking environments.