両眼ステレオ視によるリンゴ園果実の距離計測　（第１報）　　左右画像合成による距離測定方式

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タイトル別名
  • Binocular Stereo Vision System for Measuring Distance of Apples in Orchard. (Part 1). Method due to composition of left and right images.
  • リョウ ガン ステレオシ ニ ヨル リンゴエン カジツ ノ キョリ ケイソク 1 サユウ ガゾウ ゴウセイ ニ ヨル キョリ ソクテイ ホウシキ
  • Method due to composition of left and right images
  • 左右画像合成による距離測定方式

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A method is to obtain the color feature, position, and distance of an object in the common visual space of two cameras by judging clearness on composite images at the cross sections of distances on disparity. The mechanical accuracy on distance by the use of an experimental stereo vision system was within 2% at the distance of 1 to 4m. Variance of RGB and their average values of eight directions were used as a clearness indicator of composite images. These results were suitable for the both images of color and depth when the whole area of an object image was selected to compare clearness. An experiment was carried out using red apples in an orchard during harvest as an object for testing this method. The results showed a distance error of 4% or less, which proved that the method is useful for distance measurement of fruit.

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