Fecha de publicación: 26/03/2019 Fuente: Wipo tomato The invention discloses a tomato plant stalk edge recognition method based on an edge dual relationship. The method comprises the following steps: performing image segmentation on acquired tomato plant color images; the continuous edge of the tomato plant is directly extracted from the binary image; de-noising the extracted tomato plant edge; then sorting the tomato plant edges, further performingedge type identification based on Tl neighborhood filtering, short edge segment filtering and edge segmentation on the tomato plant edges, and finally extracting tomato plant stalk edge pairs from the segmented tomato plant edges based on the dual relationship between the edges. By applying the method, the identification of the stem edge of the tomato plant with near-color branches and leaves canbe realized, and required information such as position and size of the tomato plant stem in an image can be provided for target spraying of the tomato plant, cluster picking of a tomato production robot, automatic navigation, automatic obstacle avoidance and the like.