title: An embedded real-time red peach detection system based on an OV7670 camera, ARM cortex-M4 processor and 3D look-up tables.
abstract: This work proposes the development of an embedded real-time fruit detection system for future automatic fruit harvesting. The proposed embedded system is based on an ARM Cortex-M4 (STM32F407VGT6) processor and an Omnivision OV7670 color camera. The future goal of this embedded vision system will be to control a robotized arm to automatically select and pick some fruit directly from the tree. The complete embedded system has been designed to be placed directly in the gripper tool of the future robotized harvesting arm. The embedded system will be able to perform real-time fruit detection and tracking by using a three-dimensional look-up-table (LUT) defined in the RGB color space and optimized for fruit picking. Additionally, two different methodologies for creating optimized 3D LUTs based on existing linear color models and fruit histograms were implemented in this work and compared for the case of red peaches. The resulting system is able to acquire general and zoomed orchard images and to update the relative tracking information of a red peach in the tree ten times per second.
authors.affiliation: Department of Computer Science and Industrial Engineering, University of Lleida, Jaume II 69, 25001 Lleida, Spain. mteixido@diei.udl.cat
authors.forename: Mercè
authors.initials: M
authors.lastname: Teixidó
authors.forename: Davinia
authors.initials: D
authors.lastname: Font
authors.forename: Tomàs
authors.initials: T
authors.lastname: Pallejà
authors.forename: Marcel
authors.initials: M
authors.lastname: Tresanchez
authors.forename: Miquel
authors.initials: M
authors.lastname: Nogués
authors.forename: Jordi
authors.initials: J
authors.lastname: Palacín
mesh_terms: D000383:Agriculture / Q000295:instrumentation / Q000379:methods; D003199:Computer Systems; D005511:Food Handling / Q000295:instrumentation / Q000379:methods; D005525:Food-Processing Industry / Q000295:instrumentation / Q000379:methods; D005638:Fruit; D010363:Pattern Recognition, Automated / Q000379:methods; D027861:Prunus; D012815:Signal Processing, Computer-Assisted / Q000295:instrumentation*; D014741:Video Recording / Q000295:instrumentation*