Resumen
Rice seedling segmentation is a fundamental process of extracting the guidance line for automated rice transplanters with a visual navigation system, which can provide crop row information to ensure the transplanter plants seedlings along the crop row without damaging seedlings. However, obtaining accurate rice seedling segmentation in paddy fields is still a challenging task. In this paper, a rice seedling segmentation method in paddy fields is proposed. The method mainly consists of two steps: image graying and threshold segmentation. In the procedure of image graying, the RGB (Red Green Blue) seedling image is first converted into the YCrCb color space and a Cg component is constructed. A color-index 2Cg-Cb-Cr is then constructed for image graying based on the excess green index (2G-R-B), which can reduce the influence of illumination variation on the equality of image graying. For the second step, an improved Otsu method is proposed to segment rice seedlings. With respect to the improved Otsu method in this research, the background variance of within class variance is weighted by a probability parameter to ensure that the method works well for both bimodal and near-unimodal histogram images, and the search range of gray levels is constrained to reduce the time to search the segmentation threshold. Experimental results indicate that the proposed method achieves better segmentation results and reduces the computational cost compared with the traditional Otsu method and other improved Otsu methods.