Binocular-vision-based method for tracking fruit space attitude and fruit space motion
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Jul 4, 2023
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Jan 23, 2020
filing date -
Nov 27, 2018
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Abstract
A binocular-vision-based method for tracking fruit space attitude and fruit space motion, the method comprising: establishing a connected base coordinate system by taking a junction of a fruit and a fruit stem as an origin; statically photographing a feature point on the surface of the fruit and a point of the connected base coordinate system established at the junction of the fruit and the fruit stem; storing a photographed image; acquiring an inherent relationship between the feature point and the connected base coordinate system; photographing dynamic motion of the fruit; acquiring absolute coordinates of the feature point on the surface of the fruit; calculating, according to the inherent relationship between the feature point and the connected base coordinate system, absolute coordinates of a point of the connected base coordinate system at each moment corresponding to each frame of image; and respectively calculating the displacement, instantaneous speed and instantaneous acceleration of the fruit, calculating swing angular displacement and swing angular acceleration of the fruit, and calculating a fruit torsion angular speed and a fruit torsion angular acceleration at the moment t. The study of a fruit motion state in the field of forest fruit harvest through vibration is performed, so that the motion of fruits can be better tracked.
First Claim
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- 15 United States
- 10 France
- 8 Japan
- 7 China
- 5 Korea
- 2 Other
Patent Owner(s)
- NANJING FORESTRY UNIVERSITY
International Classification(s)
Inventor(s)
Inventor Name | Address | # of filed Patents | Total Citations |
---|---|---|---|
Chen, Qing | Nanjing, CN | 145 | 2166 |
Jiang, Xuesong | Nanjing, CN | 19 | 66 |
Liu, Guanhua | Nanjing, CN | 2 | 1 |
Xu, Linyun | Nanjing, CN | 1 | 1 |
Xuan, Yan | Nanjing, CN | 1 | 1 |
Zhou, Hongping | Nanjing, CN | 5 | 152 |
Zhou, Jie | Nanjing, CN | 271 | 2424 |
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