Digital image processing algorithms for a litchi harvesting robot

Abstract. Many digital image processing algorithms have been developed for a litchi harvesting robot to recognize and locate litchis in South China Agricultural University over the past decade. Algorithms include those for litchi fruits recognition using several colour space under different illumination conditions, as well as those for picking point detection and main fruit bearing branch detection. Other algorithms discussed are used in litchi fruits matching, picking point matching and distance measurement, thus for litchi fruits localization. A review of past efforts is presented in this paper, applications of these different algorithms are discussed, and future works are described.