A new method of Hough transform based on gradients phase grouping for branches detection was proposed to locate the position of branches of fruit trees accurately and rapidly.After the gradient phase of edge points was calculated by using the squared gradient method,the histogram of gradients's direction was calculated.From the histogram,several peak values were found by threshold T.Then edge points were grouped according to their gradent phases,and points in each group almost had the same gradient's direct...
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