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  • Received: Jul. 26, 2013

    Accepted: --

    Posted: Feb. 1, 2014

    Published Online: Jan. 23, 2014

    The Author Email: Wei Zhou (

    DOI: 10.3788/aos201434.0215001

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    Zhou Wei, Liu Gang, Ma Xiaodan, Feng Juan. Study on Multi-Image Registration of Apple Tree at Different Growth Stages[J]. Acta Optica Sinica, 2014, 34(2): 215001

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Acta Optica Sinica, Vol. 34, Issue 2, 215001 (2014)

Study on Multi-Image Registration of Apple Tree at Different Growth Stages

Wei Zhou1,*, Gang Liu1, Xiaodan Ma1,2, and Juan Feng3

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  • 1[in Chinese]
  • 2[in Chinese]
  • 3[in Chinese]


In order to realize three-dimensional (3D) reconstruction for canopy and guide the operations of intelligent pruning, flower thinning and picking, a multi-image registration algorithm of apple tree at different growth stages is restigated. The robot vision system includes a color camera system and a photo mixing detector (PMD) camera. Image features at different growth stages are described by image similarity and reliable pixels. According to these image features. The optical calibration based on the distance information can be used from the flowering to the mature stage, while from the dormancy to the germination stage, the multi-image registration algorism should be used. Ninety groups of pictures, including the stages of mature, dormancy and flowering are used to verification the viewpoint. The experimental result shows that, the matching rate reaches 100% at mature stage and flowering stage, while 86.11% at dormancy stage.


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