Immature green citrus fruit detection and counting based on fast normalized cross correlation (FNCC) using natural outdoor colour images

A fast normalized cross correlation (FNCC) based machine vision algorithm was proposed in this study to develop a method for detecting and counting immature green citrus fruit using outdoor colour images toward the development of an early yield mapping system. As a template matching method, FNCC was used to detect potential fruit areas in the image, which was the very basis for subsequent false positive removal. Multiple features, including colour, shape and texture features, were combined in this algorithm to remove false positives. Circular Hough transform (CHT) was used to detect circles from images after background removal based on colour components. After building disks centred in centroids resulted from both FNCC and CHT, the detection results were merged based on the size and Euclidian distance of the intersection areas of the disks from these two methods. Finally, the number of fruit was determined after false positive removal using texture features. For a validation dataset of 59 images, 84.4 % of the fruits were successfully detected, which indicated the potential of the proposed method toward the development of an early yield mapping system.