Mature pomegranate recognition methods in natural environments using machine vision. The use of machine vision to recognize mature pomegranates in natural environments is of major significance in improving the applicability and work efficiency of picking robots. By analyzing the color characteristics of color images of mature pomegranates under different illumination conditions, the feasibility of the YCbCr color model for pomegranate image recognition under different illumination conditions was proven. First, the Cr component map of pomegranate image is selected and then the pomegranate fruit is segmented by the kernel fuzzy C-means clustering algorithm to obtain the pomegranate image.
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