Detection of Overlapped Apples in Orchard Scene Using Improved K-means and Distance Least Square

  • Xia XueEmail author
  • Zhou Guomin
  • Qiu Yun
  • Li Zhuang
  • Wang Jian
  • Hu Lin
  • Fan Jingchao
  • Guo Xiuming
Conference paper
Part of the IFIP Advances in Information and Communication Technology book series (IFIPAICT, volume 545)


Automatic detection of mature apples in a complex agricultural condition is still a challenge for an autonomous picking robot due to the influence from overlapping. In order to detecting overlapped apples in tree canopy using a low-cost camera, a robust apples detection and reconstruction approach based on improved K-means and distance least square algorithm was studied. Firstly, the region of potential apple objects was extracted by using improved K-means algorithm. Then, the contours of apples were obtained by utilizing Canny edge detection algorithm on the V component map and the intact contour of unobscured apple was separated from overlapped apples contour after Y-junction searching. Finally, the contour of obscured apple was reconstructed by use of the distance least square circle fitting algorithm. The proposed method was compared with Hough transform method and the experimental result indicated that the proposed method could get much better performance for overlapped apples detection than Hough transform method. Thus it could be concluded that the proposed method is available for robotic apple picking in overlapped fruits scene with low cost.


Apple Overlapped fruits Contour reconstruction Fruit detection K-means DLS 



This work was supported by a grant from the National High-tech R&D Program of China (863 Program No. 2013AA102405) and Agricultural Science and Technology Innovation Project of Chinese Academy of Agricultural Sciences (Project No. CAAS-ASTIP-2016-AII).


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Copyright information

© IFIP International Federation for Information Processing 2019

Authors and Affiliations

  • Xia Xue
    • 1
    Email author
  • Zhou Guomin
    • 1
  • Qiu Yun
    • 1
  • Li Zhuang
    • 2
  • Wang Jian
    • 1
  • Hu Lin
    • 1
  • Fan Jingchao
    • 1
  • Guo Xiuming
    • 1
  1. 1.Institute of Agricultural InformationChinese Academy of Agricultural SciencesBeijingChina
  2. 2.Institute of PomologyChinese Academy of Agricultural SciencesXingchengChina

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