用机器人自动检测、定位并计数葡萄串，提升智能采摘效率
Automatic Detection, Positioning and Counting of Grape Bunches Using Robots
- 基于Yolov3检测葡萄串，结合局部跟踪减少误检
- 利用深度信息与空间约束，精准获取葡萄串三维位置
- 已在模拟葡萄园验证，代码开源，适合农业机器人研究者
为推动农业自动化采摘与产量估算技术，本项目设计了一套用于葡萄串的自动检测、定位与计数算法，并应用于农业机器人。采用Yolov3检测网络实现葡萄串的准确识别，加入局部跟踪算法以消除重定位问题。通过深度距离与空间约束方法，获得葡萄串中心点的精确三维空间位置，最终完成葡萄串计数。在模拟葡萄园环境中使用农业机器人进行验证。项目代码已发布于：https://github.com/XuminGaoGithub/Grape_bunches_count_using_robots。
原文摘要 · Abstract (English)
In order to promote agricultural automatic picking and yield estimation technology, this project designs a set of automatic detection, positioning and counting algorithms for grape bunches, and applies it to agricultural robots. The Yolov3 detection network is used to realize the accurate detection of grape bunches, and the local tracking algorithm is added to eliminate relocation. Then it obtains the accurate 3D spatial position of the central points of grape bunches using the depth distance and the spatial restriction method. Finally, the counting of grape bunches is completed. It is verified using the agricultural robot in the simulated vineyard environment. The project code is released at: https://github.com/XuminGaoGithub/Grape_bunches_count_using_robots.
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