Locating Mushrooms For Robotic Harvesting

Robin Tillett

doi:10.1117/12.969824

1 March 1990 Locating Mushrooms For Robotic Harvesting

Robin Tillett

Proceedings Volume 1193, Intelligent Robots and Computer Vision VIII: Systems and Applications; (1990) https://doi.org/10.1117/12.969824
Event: 1989 Symposium on Visual Communications, Image Processing, and Intelligent Robotics Systems, 1989, Philadelphia, PA, United States

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.

Citation Download Citation

Robin Tillett "Locating Mushrooms For Robotic Harvesting", Proc. SPIE 1193, Intelligent Robots and Computer Vision VIII: Systems and Applications, (1 March 1990); https://doi.org/10.1117/12.969824

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