Binocular Stereo Vision System for Measuring Distance of Apples in Orchard (Part 3)

Influences of conditions of image input on the error of distance measurement

Abstract

The method for a stereo vision system in this study is to decidable the distance of an object by judging the clearness of central color images composed from left and right images, and its feature is to be obtainable the composite color image and the depth image of the object simultaneously. The influences of illuminative conditions, fruit, and photography were examined on the error of distance measurement for fruit images in apple orchards in the harvesting season. As the results of experiment the ranges for application of this system were considered that was between from 1 to 90klx in illumination, 90 (35%) and over in the intensity of apple images, 0.5 and under in the ratio of overlapped apple's area, and 16 and over pixels in the size of an apple (‘Fuji’) image in a monitor. Then, the error of distance measurement was between -4% and 2% in the distance from 1.2m to 3.5m, and was between -7% and 0% in the distance 3.5m and over.