Binocular stereo vision system for measuring distance of apples in orchard (Part 1): method due to composition of left and right images

Teruo Takahashi; Shuhuai Zhang; Hiroshi Fukuchi; Eiji Bekki

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Binocular stereo vision system for measuring distance of apples in orchard (Part 1): method due to composition of left and right images

机译：果园苹果距离的双目立体声视觉系统（第1部分）：左右图像组成的方法

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摘要

A method is to obtain the color feature, position, and distance of an object in the common visual space of two cameras by judging clearness on composite images at the cross sections of distances on disparity. The mechanical accuracy on distance by the use of an experimental stereo vision system was within 2% at the distance of 1 to 4m. Variance of RGB and their average values of eight directions were used as a clearness indicator of composite images. These results were suitable for the both images of color and depth when the whole area of an object image was selected to compare clearness. An experiment was carried out using red apples in an orchard during harvest as an object for testing this method. The results showed a distance error of 4% or less, which proved that the method is useful for distance measurement of fruit.

机译：一种方法是通过在差距的距离的横截面上的复合图像上判断清晰度来获得两个摄像机的共同视觉空间中的对象的彩色特征，位置和距离。通过使用实验立体视觉系统的距离的机械精度在1至4米的距离下在2％内。 RGB的差异及其八个方向的平均值用作复合图像的暗度指示器。 These results were suitable for the both images of color and depth when the whole area of an object image was selected to compare clearness. 在收获期间在果园中使用红苹果进行实验作为用于测试该方法的物体。结果表明，距离误差为4％或更少，这证明该方法可用于果实的距离测量。

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《配管·装置·プラント技術》 |2000年第1期|共11页
作者
Teruo Takahashi; Shuhuai Zhang; Hiroshi Fukuchi; Eiji Bekki;
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正文语种 jpn
中图分类管道运输;
关键词
Binocular stereo vision; Distance measurement; Composite image; Distance on disparity; Variance of RGB; Clearness; Color image; Depth image;

机译：双目立体声愿景;距离测量;复合图像;差距的距离;RGB的差异;清晰度;彩色图像;深度图像;

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1. Binocular stereo vision system for measuring distance of apples in orchard (Part 1): method due to composition of left and right images [J] . Teruo Takahashi, Shuhuai Zhang, Hiroshi Fukuchi, 配管·装置·プラント技術 . 2000,第1期

机译：用于测量果园苹果距离的双目立体视觉系统（第1部分）：左右图像组成的方法
2. Binocular stereo vision system for measuring distance of apples in orchard (Part 3) -- influences of conditions of image input on the error of distance measurement [J] . Teruo Takahashi, Shu-huai Zhang, Hiroshi Fukuchi, 配管·装置·プラント技術 . 2000,第6期

机译：用于测量果园苹果距离的双目立体视觉系统（第3部分）-图像输入条件对距离测量误差的影响
3. Binocular stereo vision system for measuring distance of apples in orchard (Part 3) -- influences of conditions of image input on the error of distance measurement [J] . Teruo Takahashi, Shu-huai Zhang, Hiroshi Fukuchi, 配管·装置·プラント技術 . 2000,第6期

机译：果园苹果距离的双目立体声视觉系统（第3部分） - 图像输入条件对距离测量误差的影响
4. Studies on 3D image mosaic technology of binocular stereo vision measuring system [C] . Ren tong-qun, Zhu ji-gui, Ye sheng-hua, Conference on Advanced Laser Technologies . 2006

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机译：小波变换与双目视觉抑制理论在立体图像压缩中的应用

Binocular stereo vision system for measuring distance of apples in orchard (Part 1): method due to composition of left and right images

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