Visual measurement method of crop height based on color feature in harvesting robot

Abstract

Article Highlights (1) A crops height measurement model was established based on aperture image principle, and then segmentation lines extraction of crops and background was implemented by a series of morphological operations. (2) The foreground information is segmented according to the HSV color space, and the crop area is selected by the inter-frame sum method and large-scale filter template. Morphological operations such as dilation and erosion are used to optimize the boundary line. Finally, the boundary line is detected by Sobel operator and the crop height could be calculated. (3) Experiment results show that the inter-frame enhanced image is filtered using the median and morphology of the large-scale window, and the complete upper boundary line of rice and wheat is obtained through hole filling to realize height measurement. Average error of crop height is less than 1.6%, and processing time per frame within 50 ms.

Keywords

• Intelligent harvesting robot
• Machine vision
• Image processing
• Height of crops
• Color segmentation