中文摘要：

为导引机械手采摘番茄，提出了基于形状与纹理特征分析的番茄识别和软件实现方法。提取番茄和枯叶等干扰物的子图像，选择3个形状特征和5个纹理特征参数进行统计分析，在Matlab下快速验证番茄识别算法，再利用OpenCV函数库在Visual C＋＋下对识别算法进行再现，实现了目标识别软件的快速开发。对674幅番茄图像进行识别试验的结果表明，对生长状态为相互分离的成熟番茄，正确识别率达到90％以上。不同分辨率的番茄图像处理实验结果表明，利用OpenCV函数库编制的程序比Matlab下的代码执行效率显著提高，而且能实时采集并同步处理双目图像，可为采摘机器人目标识别和软件开发提供参考。

英文摘要：

In order to guide manipulator to pick tomato, an automatic tomato recognition based on shape and texture features analysis and development method of recognition software are researched. First, child images of tomato and disturbed objects are extracted respectively from tomato images captured under outdoor scene. Three shape parameters and five texture parameters are chosen to do statistical analyses. The algorithm of tomato recognition is verified quickly under the enviroment of Matlab. And then, OpenCV function library is used to reproduce the recognition process under VC＋＋ development environment to improve real-time of tomato recognition. Fast development of software is realized. By processing of 674 tomato images, the tests show that right recognition ratio of harvesting mature tomatoes can reach more than 90 percent when growth state of tomatoes is seperated each other. By processing of different size oftomato images, the tests show that the implementation efficiency of the codes programmed with OpenCV is risen considerably in com- parison with the codes programmed with Matlab. Morever, the software can capture real-time image and process synchronously binocular image, and may provide a reference for development of fruit-picking robotic vision software.