LIST OF FIGURES


Figure pg

3-1. Mapping of trees in the citrus grove. Two trees designated for hand harvesting are
 shown inside the red rectangular box for each plot. .....__.___ .... ... ._._ ............16

3-2. Experimental setup. ............. ...............17.....

3-3. Components of the imaging board. .....___.....__.___ .......____ ..........1

3-4. Encoder attached to the wheel of the metal frame. .....__.___ ........___ ...............20

3-5. Image processing steps of the fruit counting algorithm. ............. .....................2

3-6. Schematic diagram of the overall citrus yield mapping system. ............... ...............26

3-7. Algorithm for field-testing of the machine vision system ................. ................ ...27

4-1. Histogram of 25 calibration images in hue plane (* indicates 3898 pixels of a pixel
 value of 0 in citrus class,+ indicates 5606 pixels of a pixel value of 0 in background
 class). ........._..._... ...............34.._.._ .. .....

4-2. Histogram of 25 calibration images in saturation plane (* indicates 3872 pixels of a
 pixel value of 0 in citrus class,+ indicates 5604 pixels of a pixel value of 0 in
 background class, # indicates 2736 pixels of a pixel value of 254 in citrus class). .34

4-3. Histogram of 25 calibration images in luminance plane (* indicates 3356 pixels of a
 pixel value of 252 in citrus class) .................._.._.. ...............35...

4-4. Histogram of 25 calibration images in red plane. ................. ...._.. ................3 5

4-5. Histogram of 25 calibration images in green plane (* indicates 3330 pixels of a pixel
 value of 252 in citrus class). .............. ...............36 ......___....

4-6. Histogram of 25 calibration images in blue plane (* indicates 33 19 pixels of a pixel
 value of 252 in citrus class). .............. ...............36 ......_ __....

4-7. Pixel distribution in 25 calibration images in hue-saturation plane. ..........................39

4-8. Pixel distribution in 25 calibration images in hue-luminance plane. .........................39

4-9. Pixel distribution in 25 calibration images in red-green plane ................. ...............40