基于matlab的苹果树枝图像分割方法研究

水果收获机器人机械手工作环境复杂，为了避免机械手与树枝相碰撞造成机械手的损坏，避障研究很有必要，获取障碍物信息是研究基础。本文把树枝图像分为枝干区域、成熟苹果区域、绿色区域，用matlab编程，分析三区域在RGB、YIQ、HSI颜色空间的分布情况，分别基于RGB和HSI色彩空间，采用阈值分割技术，对树枝图像进行分割，提取枝干区域，并实验比较其分割效果，找出适合苹果树枝图像的分割方法——剥离分割。

Research on the Methods of Apple Branches Image Segmentation Based on Matlab

The working environment of fruit harvesting robot’s manipulator is complexity.In order to avoid the manipulator with branches collide causing damage to the robot,research on obstacle avoidance is necessary.And to obtain obstacle information is the base of this research.Branches image is divided into branches region,mature apples region,green area.Analysis of the three regions in the distribution of RGB,YIQ,HSI color space is used matlab programming.Based on the RGB and HSI color space,A threshold segmentation technique to divide branches image to extract branches region is respectively used.Finally,the segmentation results to find the segmentation method of identifying the apple branches-stripped segmentation is experimentsed to compare.