Fruit location and stem detection method for strawberry harvesting robot

A fruit localization and stem detection method for strawberry harvesting robot was introduced in this paper. OHTA color space based image segmentation algorithm was utilized to extract strawberry image from background; principal inertia axis of binary strawberry blob was calculated to define the pose of fruit. Strawberry was picked selectively according to its ripeness. Experimental results show that the average time of fruit localization is one second, the stem detection failure rate is 7% and fruit injury rate is 5%, which satisfy the speed and accuracy requirements of strawberry harvesting robot.