Segmentation of foreground apple targets by fusing visual attention mechanism and growth rules of seed points

Abstract

Accurate segmentation of apple targets is one of the most important problems to be solved in the vision system of apple picking robots. This work aimed to solve the difficulties that background targets often bring to foreground targets segmentation, by fusing the visual attention mechanism and the growth rule of seed points. Background targets could be eliminated by extracting the ROI (region of interest) of apple targets; the ROI was roughly segmented on the HSV color space, and then each of the pixels was used as a seed growing point. The growth rule of the seed points was adopted to obtain the whole area of apple targets from seed growing points. The proposed method was tested with 20 images captured in a natural scene, including 54 foreground apple targets and approximately 84 background apple targets. Experimental results showed that the proposed method can remove background targets and focus on foreground targets, while the k-means algorithm and the chromatic aberration algorithm cannot. Additionally, its average segmentation error rate was 13.23%, which is 2.71% higher than that of the k-means algorithm and 2.95% lower than that of the chromatic aberration algorithm. In conclusion, the proposed method contributes to the vision system of apple-picking robots to locate foreground apple targets quickly and accurately under a natural scene.Additional key words:picking robots; Malus domestica; ROI; Itti model.