Colour segmentation based on a light reflection model to locate citrus fruits for robotic harvesting

Abstract Colour segmentation with a vision system is a good procedure to identify and locate fruits in robotic harvesting. Natural illumination conditions present in these environments produce a very variable illumination of the scene, in addition, fruits are usually partially occluded, and complete visual information about them is not available. The colour segmentation used for these purposes must take into account the appearance of highlights and shadows that natural illumination conditions produce. A method based on the Dichromatic Reflection Model for the light reflected from the surface object is reported here. Through the assumption of this model the light rays reflected from points o…