Journal of Bio-Environment Control ISSN:1229-4675(Print) 2765-3641(Online) 생물환경조절학회지

Purpose of this study was a development of an image processing algorithm to recognize paprika and acquire it’s 3D coordinates from stereo images to precisely control an end-effector of a paprika auto harvester. First, H and S threshold was set using HSI histogram analyze for extracting ROI(region of interest) from raw paprika cultivation images. Next, fundamental matrix of a stereo camera system was calculated to process matching between extracted ROI of corresponding images. Epipolar lines were acquired using F matrix, and 11x11 mask was used to compare pixels on the line. Distance between extracted corresponding points were calibrated using 3D coordinates of a calibration board. Non linear regression analyze was used to prove relation between each pixel disparity of corresponding points and depth(Z). Finally, the program could calculate horizontal(X), vertical(Y) directional coordinates using stereo camera’s geometry. Horizontal directional coordinate’s average error was 5.3mm, vertical was 18.8mm, depth was 5.4mm. Most of the error was occurred at 400~450mm of depth and distorted regions of image.