ALGORITHM FOR CONTOUR DETECTION OF VEGETABLE CACTUS PEAR CLADODES PRIOR CUTTING
Vegetable cactus pear is widely grown in Mexico and exported due to its medicinal qualities for cholesterol and diabetes control. A machine vision system was implemented for cutting the spiny cladode edge automatically. The nopal pad enters to a band and a capacitor sensor tells the camera that it is passing synchronizing the shot. An image is processed and the contour obtained. An algorithm for measuring the coordinates of the pad is presented and the data transmitted to a micro-controller which activates the robotic mechanism. The data were compared against the ones copied on a paper obtaining different accuracies depending on the pixel density used during scanning.
Hahn, F., Avila, A. and Romanchik, E. (2006). ALGORITHM FOR CONTOUR DETECTION OF VEGETABLE CACTUS PEAR CLADODES PRIOR CUTTING. Acta Hortic. 728, 297-302
machine vision, coordinates detection, cladode contouring