Analysis of the stochastic excursions of tumbling apples

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dc.citation.volume188
dc.contributor.authorFlemmer C
dc.contributor.authorBakker H
dc.contributor.authorFlemmer R
dc.date.available2021-09
dc.date.issued1/09/2021
dc.description.abstractThere are strong economic pressures to improve automated inspection of apples. A considerable difficulty, acknowledged in the literature, but not adequately quantified, is the question of the extent to which the surface of apples, tumbling randomly on rollers, is covered by camera views during inspection. This work demonstrates a method to measure the roll, pitch and yaw of tumbling apples by tracking features on the skin between succeeding camera images and then to use the measured data to provide precise statistical descriptions of the tumbling process. The method was tested on an image library of four apple varietals; Eve and Granny Smith, which have mostly uniform skin colour, and Royal Gala and Braeburn which have a variegated skin colour. The images included apples that rotated stem-over-calyx (as the starting position) and apples that rotated equatorially for all varietals. The variegated varietals had many more trackable skin features (1,731–2,065 image pairs) than the mono-coloured varietals (238–859 image pairs) and stem-over-calyx rotation produced more tracking image pairs (723–2,065 image pairs) than equatorial rotation (238–2,041 image pairs), because the stem and calyx provided trackable features. Probability histograms are presented for the normalized incremental rotation in pitch, roll and yaw for each varietal and each direction of initial rotation. Skew-Gaussian distributions are fitted to the probability data to give the mean, standard deviation, skew and mean square error for the pitch, roll and yaw for each of the four varietals in each of two initial orientations (stem-over-calyx and equatorial). These stochastic characterisations can be used in future Monte Carlo simulations to provide precise determination of camera coverage during the inspection of apples tumbling on rollers. This is an important contribution to the field of automated apple inspection.
dc.description.publication-statusPublished
dc.identifierhttp://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000685647100003&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=c5bb3b2499afac691c2e3c1a83ef6fef
dc.identifierARTN 106362
dc.identifier.citationCOMPUTERS AND ELECTRONICS IN AGRICULTURE, 2021, 188
dc.identifier.doi10.1016/j.compag.2021.106362
dc.identifier.eissn1872-7107
dc.identifier.elements-id448089
dc.identifier.harvestedMassey_Dark
dc.identifier.issn0168-1699
dc.identifier.urihttps://hdl.handle.net/10179/16850
dc.relation.isPartOfCOMPUTERS AND ELECTRONICS IN AGRICULTURE
dc.relation.urihttps://doi.org/10.1016/j.compag.2021.106362
dc.subjectApple inspection
dc.subjectComputer vision
dc.subjectSurface coverage
dc.subjectFeature tracking
dc.subjectStochastic tumbling
dc.subject.anzsrc07 Agricultural and Veterinary Sciences
dc.subject.anzsrc08 Information and Computing Sciences
dc.subject.anzsrc09 Engineering
dc.titleAnalysis of the stochastic excursions of tumbling apples
dc.typeJournal article
pubs.notesNot known
pubs.organisational-group/Massey University
pubs.organisational-group/Massey University/College of Sciences
pubs.organisational-group/Massey University/College of Sciences/School of Built Environment
pubs.organisational-group/Massey University/College of Sciences/School of Food & Advanced Technology Manawatu
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