棉 花 学 报   Cotton Science   2008，20(1)：34-38

Research on the Segmentation Strategy of the Cotton Images on the Natural Condition Based upon the HSV Color-Space Model
WEI Jie-ding¹，FEI Shu-min¹，WANG Mu-lan²，YUAN Jian-ning³
(1.School of Automation, Southeast University, Nanjing 210096, China;2.Jiangsu Key Laboratory of Advanced Numerical Control Technology, Nanjing Institute of Technology,Nanjing 210013,China；3.Department of Mechanical Engineering, Nanjing Institute of Technology, Nanjing, 211167, China )

Abstract：For the cotton harvesting robot, the degree of maturation and recognition of the position in space are the key technologies. S channel of the HSV model is chosen as the feature of cotton images, which may get rid of the effect of light. Based on two situations, a checking strategy of maturation of cotton without information lost is introduced. If it ' s full-face, the ripe cotton can be judged by the dispersion and the area of one cotton, else it can be separated by the bigger area proportion of cotton pod and cotton piece. The barycenter of cotton can be ascertained by extracting geometry feature of the segmented cotton images. The experimental results demonstrate that the cotton can be separated easily from the background by the above proposed algorithm, which can well save the figure information.
Key words：cotton picking robot; image segmentation; degree of maturation of cotton; HSV model
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