适用于采摘机器人的柑橘扰动状态下的识别定位。-Suitable for citrus picking robot disturbance to identify the location state.

图像的处理，opencv做出了很大贡献，因此现在很多图像处理都在使用-The detection and tracking technologies have been extensively applied in many domains. Since its performance is difficult to secure due to environmental disturbance, it is essential to improve algorithms of dete