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Accurately extracting the grape cluster at the front of overlapping grape clusters is the primary problem of the grape-harvesting robot. To solve the difficult problem of identifying and segmenting the overlapping grape clusters in the cultivation environment of a trellis, a simple method based on the deep learning network and the idea of region growing is proposed. Firstly, the region of grape in an RGB image was obtained by the finely trained DeepLabV3+ model. The idea of transfer learning was adopted when training the network with a limited number of training sets. Then, the corresponding region of the grape in the depth image captured by RealSense D435 was processed by the proposed depth region growing algorithm (DRG) to extract the front cluster. The depth region growing method uses the depth value instead of gray value to achieve clustering. Finally, it fils the holes in the clustered region of interest, extracts the contours, and maps the obtained contours to the RGB image. The images captured by RealSense D435 in a natural trellis environment were adopted to evaluate the performance of the proposed method. The experimental results showed that the recall and precision of the proposed method were 89.2% and 87.5%, respectively. The demonstrated performance indicated that the proposed method could satisfy the requirements of practical application for robotic grape harvesting.

Segmentation of Overlapping Grape Clusters Based on the Depth Region Growing Method