In order to realize the rapid and accurate identification and positioning of prune fruit by the prune picking robot in the complex natural growth environment,a method for prune fruit identification and positioning based on the fusion of image and depth information was proposed.Firstly,the image of prune was collected,and data enhancement was used to establish prune image data sets under cloudy days,dusty environment and different angles,and then the color image was used to quickly identify prune fruits based on the YOLOv7 network model,the center point of the fruit surface was obtained.By matching and blending the color image and depth information,the depth distance segmentation was adopted to eliminate the background interference noise,to realize the three-dimensional spatial positioning of the center point on the prune fruit surface.The experimental results show that the prune fruit recognition model can realize the recognition of prune fruits in a variety of fruit growth and distribution scenarios,and its recognition F1 value is 95.8%at the highest and 83.2%at the lowest,the positioning method of fusion image and depth information has a good effect positioning effect,when the depth distance is less than 1 m,the positioning error of the algorithm in each axis is within 0.005 m,when the distance is 1.5 m,the maximum error is up to 0.013 m,which can meet the requirements of recognition and positioning of prune fruit.
NETL
NSTL
万方数据
