Abstract
The overall goal of this study was to develop a low-cost machine vision system for detecting green fruit on citrus trees. It is difficult to distinguish green citrus fruit from the background leaves using color information because the leaves and fruits are similar in color. Therefore, spatial characteristics such as shape and texture were analyzed. After background extraction, edge detection was performed. Then, circle-template matching was applied to the edge image to detect green fruits. The detection tests revealed that 86% of the fruit were correctly detected.
