2005 Volume 67 Issue 6 Pages 95-104
A stereo vision system was developed for a tomato harvesting robot. The system measures the 3D position of fruit in a greenhouse. The center of gravity was detected from the specular reflection area of the fruit imaged using a halogen lamp. The 3D position was calculated by matching the specular reflection areas in the colored fruit areas after matching the colored fruit areas. The 3D position measurement error was less than ±20mm in a Cartesian coordinate system. The system selected the nearest fruit to the camera in the cluster. The average fruit detection rate was 85% under sunlight of 120 to 45, 700lx in the greenhouse.
