Apple detection in natural tree canopies from multimodal images

J. P. Wachs, H. I. Stern, T. Burks, V. Alchanatis

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

14 Scopus citations

Abstract

In this work we develop a real time system that recognizes occluded green apples within a tree canopy using infra-red and color images in order to achieve automated harvesting. Infra-red provides clues regarding the physical structure and location of the apples based on their temperature (leaves accumulate less heat and radiate faster than apples), while color images provide evidence of circular shape. Initially the optimal registration parameters are obtained using maximization of mutual information. Haar features are then applied separately to color and infra-red images through a process called Boosting, to detect apples from the background. A contribution reported in this work, is the voting scheme added to the output of the RGB Haar detector which reduces false alarms without affecting the recognition rate. The resulting classifiers alone can partially recognize the on-trees apples however when combined together the recognition accuracy is increased.

Original languageEnglish
Title of host publicationPrecision Agriculture 2009 - Papers Presented at the 7th European Conference on Precision Agriculture, ECPA 2009
Pages293-301
Number of pages9
StatePublished - 1 Dec 2009
Event7th European Conference on Precision Agriculture, ECPA 2009 - Wageningen, Netherlands
Duration: 6 Jul 20098 Jul 2009

Publication series

NamePrecision Agriculture 2009 - Papers Presented at the 7th European Conference on Precision Agriculture, ECPA 2009

Conference

Conference7th European Conference on Precision Agriculture, ECPA 2009
Country/TerritoryNetherlands
CityWageningen
Period6/07/098/07/09

Keywords

  • Apple detection
  • Haar detector
  • Multi-modal registration
  • Mutual information
  • Sensor fusion

ASJC Scopus subject areas

  • Agronomy and Crop Science

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