Key points are not available for this paper at this time.
This research describes the development of a real-time machine vision system to guide a harvesting robotic manipulator for the red Fuji apples. The machine vision system is composed of a color CCD video camera to acquire Fuji apple images at the orchard and a PC to process the acquired images. The machine vision system was able to recognize the fruit under the different lighting conditions and it could locate the fruit in less than one second.
Bulanon et al. (2004) studied this question.