关键词：机器人；颜色；机器视觉；质量特征；水果
摘 要：The color and shape feature are very important quality characteristic for classification of fruits. The dominant grading color histogram feature and radius normal angle histogram feature were presented in this paper. They can well represent the color and shape information of fruits respectively and are not sensitive to the changes of scale, translation and rotation. Experiment results showed both histogram features can effectively distinguish between different grade fruits and have high classification accuracy. They are suitable for real-time application.