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3D Positioning Method for Pineapple Eyes Based on Multiangle Image Stereo-Matching

文献类型： 外文期刊

作者： Liu, Anwen 1 ; Xiang, Yang 1 ; Li, Yajun 1 ; Hu, Zhengfang 1 ; Dai, Xiufeng 1 ; Lei, Xiangming 1 ; Tang, Zhenhui 1 ;

作者机构： 1.Hunan Agr Univ, Coll Mech & Elect Engn, Changsha 410128, Peoples R China

2.Beijing Acad Agr & Forestry Sci, Intelligent Equipment Res Ctr, Beijing 100097, Peoples R China

关键词： pineapple eye; three-dimensional; YOLOv5; stereo-matching

期刊名称：AGRICULTURE-BASEL （ 影响因子：3.408； 五年影响因子：3.459 ）

ISSN：

年卷期： 2022 年 12 卷 12 期

页码：

收录情况： SCI

摘要： Currently, pineapple processing is a primarily manual task, with high labor costs and low operational efficiency. The ability to precisely detect and locate pineapple eyes is critical to achieving automated pineapple eye removal. In this paper, machine vision and automatic control technology are used to build a pineapple eye recognition and positioning test platform, using the YOLOv5l target detection algorithm to quickly identify pineapple eye images. A 3D localization algorithm based on multiangle image matching is used to obtain the 3D position information of pineapple eyes, and the CNC precision motion system is used to pierce the probe into each pineapple eye to verify the effect of the recognition and positioning algorithm. The recognition experimental results demonstrate that the mAP reached 98%, and the average time required to detect one pineapple eye image was 0.015 s. According to the probe test results, the average deviation between the actual center of the pineapple eye and the penetration position of the probe was 1.01 mm, the maximum was 2.17 mm, and the root mean square value was 1.09 mm, which meets the positioning accuracy requirements in actual pineapple eye-removal operations.

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