成熟草莓果实重心和采摘点的确定是草莓采摘机器人采摘收获作业中的关键问题。
During the strawberry collection process by robot, the crucial element to ensure the picking precision is the determinations of the ripe strawberry barycenters and the plucking positions.
基于数学形态学的方法，研究了两种针对这种较复杂情况的成熟草莓果实分割的方法，即聚类快速分割法和分水岭区域分割法。
Based on the mathematical morphological algorithm, two methods to solve this complexity were proposed, namely, Clustering Fast Segmentation and Watershed Region Segmentation.
我发现到好多成熟的草莓。
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