基于机器视觉的玫瑰花检测与特征提取

doi:10.13304/j.nykjdb.2022.0951

摘要/Abstract

摘要：

种植环境下的玫瑰花分布紧密、互相遮挡，为准确检测并提取玫瑰花的特征，基于机器视觉对玫瑰花的颜色和形状进行识别与处理。首先选取双边滤波对玫瑰花图像去噪，然后采用六角锥体模型颜色空间（hexagonal cone colour model，HSV）提取玫瑰花颜色，创建滚动条函数对六角锥体颜色模型各分量图阈值分割从而确定最佳阈值，最后运用形态学运算、面积阈值、孔洞查询填补等方法提取玫瑰花轮廓，并提出玫瑰花内切圆形状拟合算法，将拟合内切圆的圆心和半径作为玫瑰花图像特征。结果表明，玫瑰花颜色阈值能够有效去除玫瑰花枝叶、泥土等图像，形状拟合算法能有效提取玫瑰花的形状特征，并擦除玫瑰花苞。运用该算法单朵玫瑰花识别率为98.17%，3朵及以下重叠玫瑰花的识别率为92.67%，4朵及以上重叠玫瑰花的识别率为74.07%，被枝叶遮挡的玫瑰花识别率为83.03%，该套机器算法在复杂的种植环境中能有效识别并提取玫瑰花的特征值，结果可为玫瑰花采摘机器人研究提供重要技术支撑。

关键词: 玫瑰花, 机器视觉, 图像识别, 特征提取

Abstract:

Roses in the planting environment are closely distributed and shielded from each other. In order to accurately detect and extract the characteristics of roses， the colour and shape of roses were recognized and processed based on machine vision. Firstly， bilateral filtering was selected to denoise the rose image， and then the colour of the rose was extracted by using the hexagonal cone colour model （HSV）， and a scrollbar function was created to segment the threshold of each component of the hexagonal cone colour model to determine the optimal threshold. Finally， the contour of the rose was extracted by means of morphological operation， area threshold， hole query and filling. The fitting method of the shape of the inner circle of the rose was proposed， and the center and radius of the fitting inner circle were used as the image features of the rose. The results showed that the rose colour threshold could effectively remove the images of the rose branches and leaves， and the shape fitting algorithm could effectively extract the shape features of the rose and erase the rose bud. By using this method， the recognition rate of single rose was 98.17%， that of overlapping roses with 3 or less roses was 92.67%， that of overlapping roses with 4 or more roses was 74.07%， and that of roses blocked by branches and leaves was 83.03%. This set of machine algorithm could effectively recognize and extract the characteristic values of roses in a complex planting environment， which provided important technical support for rose-picking robot.

Key words: rose, machine vision, image recognition, feature extraction

中图分类号:

S685.12

李锐风, 杨云福, 杨永发, 于永顺. 基于机器视觉的玫瑰花检测与特征提取[J]. 中国农业科技导报, 2024, 26(4): 106-113.

Ruifeng LI, Yunfu YANG, Yongfa YANG, Yongshun YU. Rose Flower Detection and Feature Extraction Based on Machine Vision[J]. Journal of Agricultural Science and Technology, 2024, 26(4): 106-113.

图/表 8

图1 部分参数双边滤波处理效果A：原图；B：N=5，δr=50，δs=50；C：N=15，δr=70，δs=70；D：N=25，δr=80，δs=80

Fig. 1 Effect picture of bilateral filtering of some parametersA：Original；B：N=5，δr=50，δs=50；C：N=15，δr=70，δs=70；D：N=25，δr=80，δs=80

表1 重叠玫瑰花的像素数

Table 1 Pixels of overlapping area of roses

像素数

Number of pixels

2朵玫瑰花重叠

2 roses overlap

3朵玫瑰花重叠

3 roses overlap

4朵玫瑰花重叠

4 roses overlap

最大值

Maximum/10⁵

3.047

4.326

5.821

最小值

Minimum/10⁵

1.925

2.823

4.328

图2 玫瑰花灰度图

Fig. 2 Rose grayscale line chart

图3 H、S、V分量阈值对比A：H分量；B：S分量；C：V分量

Fig. 3 Comparison of the thresholds for H， S， and V components individuallyA：Hue；B：Saturation；C：Value

图4 玫瑰花识别过程A：颜色阈值图像；B：开运算；C：面积阈值；D：闭运算；E：孔洞查询填补；F：花蕊定位法；G：形状拟合。图中蓝色圆形即为拟合玫瑰花轮廓的内切圆

Fig. 4 Rose recognition processA：Color threshold image；B：Morphological opening； C：Area threshold； D： Morphological closing；E：Hole query and filling；F：Stamen positioning；G：Shapes are similar. The blue circle in the figure is the cut circle fitting the outside of rose

表2 玫瑰花图像特征

Table 2 Rose image features

玫瑰花位置

Rose location

圆心像素坐标

Circle center pixel coordinates

内切圆直径/像素数

Cut circle diameter/number of pixels

表3 玫瑰花识别统计结果

Table 3 Rose recognition statistical results

参数 Parameter	单朵玫瑰花 Single rose	3朵及以下重叠 Overlap of 3 roses and below	4朵及以上重叠 Overlapp 4 roses and above	枝叶遮挡 Foliage obscuration
类型数量 Number of types	602	232	162	336
识别数量 Recognition quantity	591	215	120	279
识别率 Recognition rate/%	98.17	92.67	74.07	83.03
耗时/s Time consuming/s	1 080	501	631	848

图5 不同自然光照玫瑰花识别结果A：顺光重叠原始图； B：顺光重叠内切圆图； C：逆光单朵原始图； D：逆光单朵内切圆图。图中蓝色圆形即为拟合玫瑰花轮廓的内切圆

Fig. 5 Recognition results of roses in different natural lightA：Overlapping the original figure with a front light； B：Shunguang rose flower inscribed circle diagram； C： Backlit original diagram； D：Backlit rose flower inscribed circle chart. The blue circle in the figure is the cut circle fitting the outside of rose

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