| 摘要 |
The invention relates to a method of locating objects on a starting image of a scene containing them and formed of a matrix of pixels of defined respective grey levels. By local digital filtering with the aid of convolution masks, the pixels arranged on at least one monotone image are defined in order to eliminate the others and to substitute for the starting image a binary image of monotone points. For each pixel of the starting image, the direction of the maximum variation in the grey levels of adjacent pixels is defined, the corresponding directions of grey gradient are substituted for the monotone parts of the binary image in order to obtain an image of gradient directions of the monotone points, and the pixels of the image of gradient directions are distributed into regions of pixels substantially with the same gradient directions, respectively, and which are contiguous, revealing points of specularity. The method makes it possible to pick fruit from a tree with the aid of a robot. <IMAGE>
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