Apple Detection Using Infrared Thermal Image (Part 1)

Thermal Distribution on Apple Tree and Acquisition of Apple Binary Image

Abstract

In the case of apple harvesting using agricultural robots, it is indispensable to distinguish apple fruit from the tree. This paper investigated the potential of infrared thermal image for distinguishing apples from tree because it is widely known that there are thermal differences between apples and leaves. The results have verified that the thermal difference between apples and leaves was over 1°C, and the difference between apples and branches was very slight in the case of the weather is clear and calm. By using the information on thermal distribution differences, the acquisition of apple binary image to distinguish apples from its tree is possible and easier than the common methods of utilizing visual image.