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Proceedings Paper

Locating Mushrooms For Robotic Harvesting
Author(s): Robin Tillett
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Paper Abstract

Mushrooms are normally picked selectively as they reach an appropriate size and graded straight into boxes. For automation a robotic harvester would need to be guided to select the mature mushrooms and leave the immature mushrooms undamaged. This paper describes a vision processing algorithm developed to identify mushrooms in a growing bed and find their position and size. The algorithm uses knowledge of the shape of the mushroom and its expected appearance to give reliable performance. The edge of the mushroom is tracked in the grey level image, and an estimate of the centre of the mushroom is used to guide the tracking through confused areas. The algorithm can cope with the problems of touching mushrooms and variations in lighting levels. The algorithm appears to work well enough to guide a harvesting machine.

Paper Details

Date Published: 1 March 1990
PDF: 10 pages
Proc. SPIE 1193, Intelligent Robots and Computer Vision VIII: Systems and Applications, (1 March 1990); doi: 10.1117/12.969824
Show Author Affiliations
Robin Tillett, AFRC Engineering (United Kingdom)

Published in SPIE Proceedings Vol. 1193:
Intelligent Robots and Computer Vision VIII: Systems and Applications
Bruce G. Batchelor, Editor(s)

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