Grape Detection in Vineyards

Introduction To Computational and Biological Vision

final project

Kobi Ruham Eli Izhak

 Ideas and goals
• Vineyards are complex natural environments where accurate
detection of fruit can facilitate numerous operations such as targeted
spraying and selective picking. Suppose a robot moves along a
vineyard aisle and while doing so it takes images of the vines with
the camera positioned roughly perpendicularly to the vine.

• These images might show any of the ground, the vine, and it's
supporting structure, the foliage, and grape clusters.

• The goal of the project is to develop a system that detects grape

clusters in vineyard images taken under the conditions specified
above (i.e., from within the aisle and toward the vine). By detection it
is meant that the program should be able to properly label every
pixel that belongs to a grape cluster while labeling every other pixel
as non-grape.
 Course of action
• what make the grape different in the
vineyards typical image?:
– grape has shape which is the most similar to cycle but
not symmetric.
– The radius of the cycle is limited.
– Grape in the image is most likely to be found together
with other grapes.
– The color of the grapes in every image is different, but
in the typical images (which was given) it can be
found that the color of the grapes is not the dominant
color in the image
 Course of action
• In order to filter parts from the given image
we examined the following methods:
– Filter pixel using kmean – remove the biggest
segment.
– Remove pixels which their RGB is out of bounds.
– Remove x most common gray color in the image.
• Hough transform for cycle detection:
– Filter all the edges where the gradient size is very big.
– The threshold was examined on the number of votes
for each cycle.
– Sum all the votes for nearby cycles and radius and
examined threshold on it.
 Implementation
• Step 1 - Pixels filtering:
– Kmean and then remove the largest segment.
– Remove all the pixels which their R' G or B is above
200 or below 60.
• Step 2 - Gray image: change the image to gray
scale.
• Step 3 – Edge detection: gradient (orientation).
• Step 4 - Hough transform for cycle detection:
– every edge pixel in the image votes for all the cycles which
tangent to this edge point from both sides.
– The radius of the tangent cycle is bound between 2 and 15.
 Implementation
• Step 5 - Cycles filtering:
– Sum all the votes for cycles with difference of one in
the radius (i.e. sum all the votes of cycles in location
(x,y) and radius 3,4,5).
– Filter all the cycles which the number of votes (sum of
votes) for them is below 10.
– Keep only the cycle which have at least 35 other
cycles around them.
• Step 6 - Cycles Painting
Results
 Conclusions
• The main method was Hough transform – but
the typical image is very detailed and without
any help it doesn’t return any good result.
• In order to use Hough transform so it will return
satisfied result parts from the image must be
remove.
• In order to get better result better method for
filtering need to be develop or few parameter
need to be entered before start detect the grape
(distance, common color...).
• In case no other details are given we find it very
difficult to find grapes in all the typical images.