ass日本风韵熟妇pics男人扒开女人屁屁桶到爽|扒开胸露出奶头亲吻视频|邻居少妇的诱惑|人人妻在线播放|日日摸夜夜摸狠狠摸婷婷|制服 丝袜 人妻|激情熟妇中文字幕|看黄色欧美特一级|日本av人妻系列|高潮对白av,丰满岳妇乱熟妇之荡,日本丰满熟妇乱又伦,日韩欧美一区二区三区在线

The visual identification technology of mature citrus fruits in the condition of disturbance had been studied. Firstly, analyzing disturbed citrus in ANSYS, so as to confirm the law of motion was the simple pendulum movement. Secondly, processing video image of the disturbed citrus,by using the improved K-means clustering method combined with Hough circle transform method to segment fruits. According to the image segmentation result, fitting the binary citrus image using Hough line method. With constraint of straight slope between -0.45~0.45, disturbed citrus’picking positions were determined ultimately. Test results show that this method could identify the disturbed citrus effectively in the natural environment, and the recognition rate of picking position was 85%, with processing time within 7.58s to 9.24s. The study provides the theoretical foundation and technical support for the visual localization of disturbed fruits.