A Method of Apple Image Segmentation Based on Color-Texture Fusion Feature and Machine Learning

Apples are one of the most kind of important fruit in the world. China has been the largest apple producing country. Yield estimating, robot harvesting, precise spraying are important processes for precise planting apples. Image segmentation is an important step in machine vision systems for precision apple planting. In this paper, an apple fruit segmentation algorithm applied in the orchard was studied. The effect of many color features in classifying apple fruit pixels from other pixels was evaluated. Three color features were selected. This color features could effectively distinguish the apple fruit pixels from other pixels. The GLCM (Grey-Level Co-occurrence Matrix) was used to extract texture features. The best distance and orientation parameters for GLCM were found. Nine machine learning algorithms had been used to develop pixel classifiers. The classifier was trained with 100 pixels and tested with 100 pixels. The accuracy of the classifier based on Random Forest reached 0.94. One hundred images of an apple orchard were artificially labeled with apple fruit pixels and other pixels. At the same time, a classifier was used to segment these images. Regression analysis was performed on the results of artificial labeling and classifier classification. The average values of Af (segmentation error), FPR (false positive rate) and FNR (false negative rate) were 0.07, 0.13 and 0.15, respectively. This result showed that this algorithm could segment apple fruit in orchard images effectively. It could provide a reference for precise apple planting management.