A robo-vision algorithm for automatic harvesting of green bell pepper

Ali Moghimi, Mohammad Hosein Aghkhani, Mahmood Reza Golzarian, Abbas Rohani, Ce Yang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

One of the main concerns of greenhouse growers is the cost for labor-intensive tasks including planting, monitoring, spraying and most importantly harvesting. Within the last two decades, there have been great efforts for developing automatic harvesting robots, but they are not commercialized yet. There is a need to conduct further research about different aspects of robots. Machine vision is one major aspect of a harvesting robot, and generally is inseparable part of robot automation. The main objective of this study was to develop a vision system that is simple, low-cost but effective with a reasonable accuracy for detecting bell pepper in greenhouse. Green bell pepper was chosen not only for its nutrient importance but also for its challenging segmentation due to color similarity between samples of interest and leaves. To overcome this challenge, images were firstly segmented into objects. In the next step, texture characteristic as one of the object-based features was utilized to segment objects into smooth and rough classes. Categorized smooth objects were then classified into plant and non-plant regions using adjusted thresholds of color indices of hue, saturation and Excessive Green Index (EGI). This approach produced promising classification results on images taken under natural light for ultimate purpose of automatic harvesting. The algorithm could recognize 94 out of 108 (detection accuracy of 87%) bell peppers located within workspace of robot.

Original languageEnglish (US)
Title of host publicationAmerican Society of Agricultural and Biological Engineers Annual International Meeting 2015
PublisherAmerican Society of Agricultural and Biological Engineers
Pages3185-3193
Number of pages9
ISBN (Electronic)9781510810501
StatePublished - Jan 1 2015
EventAmerican Society of Agricultural and Biological Engineers Annual International Meeting 2015 - New Orleans, United States
Duration: Jul 26 2015Jul 29 2015

Publication series

NameAmerican Society of Agricultural and Biological Engineers Annual International Meeting 2015
Volume4

Conference

ConferenceAmerican Society of Agricultural and Biological Engineers Annual International Meeting 2015
CountryUnited States
CityNew Orleans
Period7/26/157/29/15

Keywords

  • Bell pepper
  • Computer vision
  • Edge detection
  • Harvesting robot
  • Object-based features
  • Texture

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  • Cite this

    Moghimi, A., Aghkhani, M. H., Golzarian, M. R., Rohani, A., & Yang, C. (2015). A robo-vision algorithm for automatic harvesting of green bell pepper. In American Society of Agricultural and Biological Engineers Annual International Meeting 2015 (pp. 3185-3193). (American Society of Agricultural and Biological Engineers Annual International Meeting 2015; Vol. 4). American Society of Agricultural and Biological Engineers.