基于颜色信息的采摘西红柿识别方法

为了使西红柿采摘机器人对采摘区域内的成熟西红柿进行准确识别，提出一种识别方法。通过对自然场景下田间西红柿图像中目标与背景在不同色彩空间的颜色指标进行统计分析，确定采摘对象识别的颜色特征分量，在此基础上结合不同的分割算法进行分割效果的比较，建立基于色差信息的改进Ostu分割算法的识别模型。实验结果表明，该算法对于成熟果的识别准确率可达到98%以上，对绿熟果的识别准确率可达到90%以上。

Identification Methods of Picking Tomatoes Based on Color Information

This paper presents a novel semi-fragile watermark algorithm for image authentication and recovery. Watermark generation and watermark embedding are disposed in original image, and it needs no information about the original image or watermark when image is authenticating, so it increases the security and confidentiality of watermark. Experimental results show that the algorithm can distinguish intentional content tamper and incidental image processing well, and recover the content modified if image is tampered.