LAUSR

Abstract During the recognition and localization process of green apple targets, problems such as uneven illumination, occlusion of branches and leaves need to be solved. In this study, the multi-scale Retinex with color restoration (MSRCR) algorithm was applied to enhance the original green apple images captured in an orchard environment, aiming to minimize the impacts of varying light conditions. The enhanced images were then explicitly segmented using the mean shift algorithm, leading to a consistent gray value of the internal pixels in an independent fruit. After that, the fuzzy attention based on information maximization algorithm (FAIM) was developed to detect the incomplete growth position and realize threshold segmentation. Finally, the poorly segmented images were corrected using the K-means algorithm according to the shape, color and texture features. The users intuitively acquire the minimum enclosing rectangle localization results on a PC. A total of 500 green apple images were tested in this study. Compared with the manifold ranking algorithm, the K-means clustering algorithm and the traditional mean shift algorithm, the segmentation accuracy of the proposed method was 86.67%, which was 13.32%, 19.82% and 9.23% higher than that of the other three algorithms, respectively. Additionally, the false positive and false negative errors were 0.58% and 11.64%, respectively, which were all lower than the other three compared algorithms. The proposed method accurately recognized the green apples under complex illumination conditions and growth environments. Additionally, it provided effective references for intelligent growth monitoring and yield estimation of fruits.