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Sensors 2012, 12(6), 7701-7718; doi:10.3390/s120607701

Definition of Linear Color Models in the RGB Vector Color Space to Detect Red Peaches in Orchard Images Taken under Natural Illumination

Department of Computer Science and Industrial Engineering, University of Lleida, Jaume II, 69, 25001 Lleida, Spain
* Author to whom correspondence should be addressed.
Received: 19 April 2012 / Revised: 28 May 2012 / Accepted: 1 June 2012 / Published: 7 June 2012


This work proposes the detection of red peaches in orchard images based on the definition of different linear color models in the RGB vector color space. The classification and segmentation of the pixels of the image is then performed by comparing the color distance from each pixel to the different previously defined linear color models. The methodology proposed has been tested with images obtained in a real orchard under natural light. The peach variety in the orchard was the paraguayo (Prunus persica var. platycarpa) peach with red skin. The segmentation results showed that the area of the red peaches in the images was detected with an average error of 11.6%; 19.7% in the case of bright illumination; 8.2% in the case of low illumination; 8.6% for occlusion up to 33%; 12.2% in the case of occlusion between 34 and 66%; and 23% for occlusion above 66%. Finally, a methodology was proposed to estimate the diameter of the fruits based on an ellipsoidal fitting. A first diameter was obtained by using all the contour pixels and a second diameter was obtained by rejecting some pixels of the contour. This approach enables a rough estimate of the fruit occlusion percentage range by comparing the two diameter estimates.
Keywords: red-peach harvesting; fruit detection; RGB color space red-peach harvesting; fruit detection; RGB color space
This is an open access article distributed under the Creative Commons Attribution License (CC BY) which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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Teixidó, M.; Font, D.; Pallejà, T.; Tresanchez, M.; Nogués, M.; Palacín, J. Definition of Linear Color Models in the RGB Vector Color Space to Detect Red Peaches in Orchard Images Taken under Natural Illumination. Sensors 2012, 12, 7701-7718.

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