The invention discloses a night viewing
image noise reduction method for an apple harvesting
robot. The
image noise reduction method for the apple harvesting
robot comprises the steps that two night viewing images are collected consecutively with the same sampling position and the same angle through a camera in
artificial light source, qualitative and quantitative analysis on
noise containing in the night viewing images is conducted through a difference image method, and the
noise type is judged that most of the
noise is
gaussian noise, and partial
impulse noise is accompanied; according to the characteristics of the contained noise, firstly, the
impulse noise and partial
gaussian noise are removed through the use of a small valve soft threshold de-noising
algorithm, and a lower
gaussian noise image is acquired; maximum separation between image source
signal and noise
signal is conducted through the use of an
independent component analysis method, and at that moment, the acquired image source
signal contains partial
gaussian noise; finally,
noise reduction treatment is conducted on the image source signal through the use of the small valve soft threshold de-noising
algorithm, and relative clean low-noise image is acquired. The night viewing
image noise reduction method for the apple harvesting
robot has the advantages that
noise reduction function on the night viewing image is realized, preparation is made for the recognition of the night viewing image, and a foundation is laid for the further accomplishment of the
night work of the apple harvesting robot.