Recognition Method of Green Pepper in Greenhouse Based on Least-Squares Support Vector Machine Optimized by the Improved Particle Swarm Optimization

摘要

In the green pepper harvesting robot, the color of green pepper is similar to that of leaves, which makes it difficult to recognize the green pepper target. In order to solve this problem, a green pepper recognition method based on least-squares support vector machine optimized by the improved particle swarm optimization (IPSO-LSSVM) is proposed in this paper. Firstly, the green pepper images are segmented by K-Means method under the Lab color space, and the segmentation images of the target and background are obtained. The processed green pepper image was divided into training and testing samples. Then, the shape and texture features of green pepper targets are extracted separately from the training sample using the hu invariant moment and Tamura texture feature. Meanwhile, in order to reduce the complexity of data calculations and improve the efficiency, the extracted feature vectors are normalized. The feature vector is used as the input eigenvector of the least-squares support vector machine (LSSVM). The particle swarm optimization algorithm is used to obtain the optimal regularization parameter and the kernel function width. In order to maintain the particle activity, the mutation strategy is introduced to improve the particle swarm optimization algorithm. The experimental results show that the recognition rate of IPSO-LSSVM is higher than that of other methods, and the recognition accuracy is 89.04%. It could meet the requirements of green pepper identification.