2015 International Conference on Communication, Control and Intelligent Systems (CCIS)

Determination of Ripeness and Grading of Tomato

using Image Analysis on Raspberry Pi

Ruchita R. Mhaski P.B. Chopade M.P. Dale

M.E. Student, MES College Assistant Professor, MES College Associate Professor, MES College
of Engineering, of Engineering, of Engineering,
Pune-411001, India Pune-411048, India Pune-411048, India
E-mailld: E-mail Id: E-mailld:
mhaskiruchita7681@gmail.com pbchopade@mescoepune.org mpdale@mescoepune.org

Abstract-Fruits and vegetables market is subject of choice. Fruit quality is defined by various factors such as shape,
Thus, it is important for the suppliers to label the quality of goods size, color and defect-free. There are various stages of ripeness
before dealing out. Some commercially available fruit sorting and
of fruit. Ripening of fruit proves to be a compound occurrence
grading system have been introduced, but they are almost
that affects fruits chemically as well as physiologically. Color
expensive for small and medium fruit processing industry.
of fruit describes the ripening stage of fruit. Therefore,
Presently, human experts grade the agriculture goods based on its
costumer's choice depends upon the color fruit which
vision based features that cause the inaccuracy, inconsistency and
inefficiency on defining the quality of agriculture goods. In this describes the ripening stage of fruit. Tomato plays a vital role
paper, we are inspecting the quality of tomato based on shape, in a meal of common man. Tomato is a very delicate fruit
size and degree of ripeness. An edge detection algorithm is used to which is used every day. Thus, it is need of time to establish a
estimate the shape and size of tomato and color detecting non-destructive automated technology to determine the quality
algorithm is used for the ripeness determination. All these of tomato and grade them accordingly without any damage.
algorithms are implemented on Raspberry Pi development board
which will become independent and cost effective system. Our Poor efficiency, high cost, slow speed of grading and
system includes Raspberry Pi development board, conveyor belt, complexity are drawbacks of the present fruit quality detecting
motors, Pi camera. All the interfacing of the above devices will be and grading system. Human experts sort the fruit on the basis
carried out and will make a cost effective embedded system for of color, shape and size and defects. But, human experts get
the determination of shape, size and degree of ripeness of tomato.
tired or bore or may be less attentive after a period of time
Same system can be utilized for other fruits and vegetables also.
which causes the inaccurate, inconsistent and ineffectual
Keywords-Image Processing, Ripeness, Grading, Sorting,
outputs. Therefore, it is the requirement of industry to establish
Conveyor System
high speed and low cost automated quality detection and
I. INTRODUCTION grading system. Then, the work will be faster and free from
error.
Agriculture plays a significance role and is the integral
part of overall economic development in India. Agriculture is Fuzzy Logic, Genetic Algorithm, Neural Network, Multi­
the only way of living for the two-thirds of population in India. class SVM Based Classification etc are some of techniques
On comparing the development of electronics and automobiles used for determining the fruit quality. Listed techniques are bit
with the development of agriculture, it is observed that the tricky to establish for real time application. The proposed
development in agriculture is sluggish. Hence, it is essential to method is designed to determine the quality of tomato. The
move towards the innovative plan to raise the impact factor software part is very efficient for defining the quality of
agriculture development. tomato by detennining ripeness of tomato, estimating of shape
and size and detecting of defects in tomato. Here, the grading
Fruits and vegetables market is subject of choice. Thus, it
system will grade tomato in four different classes, namely,
is important for the suppliers to label the quality of goods
class 1: high ripeness class, class 2: medium ripeness class,
before dealing out. Presently, human experts grade the
class 3: low ripeness class and class 4: defected class.
agriculture goods based on its optical features. Nevertheless,
manual inspection causes the inaccuracy, inconsistency and The chip embedded in Raspberry Pi development board is
inefficiency on defming the quality of agriculture goods. It is Broadcom BCM2835 Soc. The core architecture of this board
human nature to get tired and bore or become inattentive after is ARMIl. It has 512 SDRAM. Raspbian is the operation
a period of time. The improvement in the automatic grading system booted in the micro SD card, which is similar to the
system of fruit on the basis of quality will results in accurate, LINUX operation system. Any HDMIIDVI monitor or TV
efficient and consistent outputs. As a result, it save time and should work as display for Raspberry Pi. Any USB keyboard
human labors and will give a handful of help to the economic or mouse can be attached for use. The development board
development. Raspberry Pi Model B+ is shown in fig 1.

978-1-4673-7541-2/15/$31.00 it 2015 IEEE

 Woo Chaw Seng [2] build up techniques using image
analysis for online determination of the quality of fruits like
based on parameter such as size, color, shape. Mean of colors
from RGB color space are calculated to extract the color
features. System is robust enough and is also able to recognize
any input of fruit images that are being captured in any
Fig. 1. Raspberry Pi conditions. Very few types of fruits are taken into
consideration. K-nearest neighbour classifier is sensitive to
In this paper, we have specified red tomato belongs to
noise. It is time consuming process to calculate distance from
high ripeness class while, green tomato belongs to low
each pixel. Accuracy bar touches up to 90% based on mean of
ripeness class. Thus, the color determination system can sort
colors from RGB color space method.
tomato on the basis of their ripeness. Geometric features
estimation system estimates the shape and size of tomato. To grade San-Fuji apples, neural network plays significant
Texture feature estimation detects the defects in tomato. role to classify apples into five quality classes [4]. Pixels are
obtained from image based on color and are given to the neural
This paper is planned as follows: Section I offers the
network as an input. Mean color of fruit is obtained from fruit
introduction. Section II provides the reviews of the previous
image and grading is done based on fruit mean color, its
techniques of fruit quality inspection. The ripeness
variability and availability of diseased pixels and ratio of red
determination of tomato is provided in Section III. The
color of fruit image. Accuracy is obtained up to 95% based on
estimation of size and shape of tomato is discussed in Section
global classification rate (70%).
IV. Section V discusses detection of defects of tomato. Section
VI draws out the conclusion based on result analysis. RGB color space cannot be used for the detection of color.
As human eye is less sensitive to color and more sensitive to
II. PREVIOUS WORK
intensity thus, YUV color space is used. RGB image is
As color resembles the maturity of tomato, tomato converted to YUV image. Here, V (Value) factor in YUV
maturity stages ranges from green to red. According to color space represents intensity. Thus, V factor in YUV is
Jaramillo [1], tomato maturity can be categorized into six suitable to decide the tomato maturity. In addition to this, V
stages: factor show the expected part of an image [5].

Stage 1: Green: More than 90% of surface is green. V. Leemans, H. Mageinb, M.F. Destain presented in [6]
apple grading system based on European standards. Mean of
Stage 2: Breaking: 90% of surface is green and color
colour was calculated from 1000 images of apple and
other than green covers not more than lO% of the
estimated ground color area of golden delicious and
surface.
Jonagold[7]. For healthy fruit, correct classification rate is 90-
Stage 3: Turning: Range from 10 to 30% of the surface is 95%. It is time saving process based on individual defect
yellow, combination of light red and green. recognisition. The demerits of this method are need of better
segmentation technique for bruise detection and high
Stage 4: Pink: Range from 30 to 60% of the blending of
misclassification rate. Correct classification rates for golden
red and yellow or red color.
delicious and Jonagold are 78% and 72%.
Stage 5: Light red: Between 60 to 90% of the surface is
Heron and Zachariah (1974) [8] designed an automatic
red.
sorting machine for tomatoes. A wide belt high capacity
Stage 6: Red: Range from 90 to 100% surface is red. concept of color sorting was introduced. The unripe tomato
was rejected and no action was taken on ripen tomato. Also
Blasco et al. [3] build up techniques using image analysis
background was considered. When only half tomato is in
for online determination of the quality of fruits like peaches,
viewing area, the amount of background captured is more.
apples and oranges based on parameter such as color, size, and
Thus accuracy can be achieved by increasing the scanning
defect-free. In the segmentation procedure fruit can be
speed for increased intake of tomato to optimum level with no
perfectly notified and separated from the background by using
adverse effect on accuracy.
Bayesian discriminate analysis. 22 surface sectors of tomatoes
varying from greenish to red color are taken into account to Changyong Li [9] designed an automatic sorting machine
determine color of tomato accurately. Blasco's system decides for tomatoes. They proposed the algorithm based on dominant
the color of fruit by comparing many standard color indices. color histogram matching method. This method provides high
Hunter Lab co-ordinate values calculate these color indices. A accuracy and is suitable for real time application. The demerit
colorimeter in three random circular areas (8mm diameter) in of this algorithm is, it is less sensitive to lighting. The accuracy
each of the selected sectors gives Hunter Lab co-ordinate provided by this method is 97.2%.
values.

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 Hongshe Dang, Jinguo Song, Qin Guo [10] have projected The Raspberry Pi has a 26-pin General Purpose
system based on image processing for detecting the fruit size Input/Output (GPIO) connector and this carries a set of signals
and grade them accordingly. The hardware consists of ARM9 and buses. There are 8 general purpose digital 110 pins.
as main processor which control all other hardware. The WiringPi is a GPIO access library written in C for the
software part for detecting the fruit size and grading is done on BCM2835 used in the Raspberry Pi. WiringPi includes a
the QT/Embedded platform. command-line utility gpio which can be used to program and
setup the GPIO pins. You can use this to read and write the
Dah-Jye Lee [11] introduced as system based on direct
pins and even use it to control them from shell scripts. The
color mapping. In this system, the overall grading result based
following tables give the mapping of the Raspberry Pi GPIO
on both color index and consistency averages are consistent
Pins to the (PI) GPIO connector in relation to the pin numbers
with human grading. This method is simple, effective and
and the physical location on the connector.
gives high accuracy which is of 95%. But the problem with
this method is, it is not generalized for different types of fruits. Table 1 shows the 40 pin GPIO Connectors mounted on
Raspberry Pi Model B+.
John B. Njoroge [12] has projected an automated grading
system using image processing. The system detects the TABLE 1: THE GPIO CONNECTORS
external and internal blemish. The hardware includes six CCD
Wirine; Pi Pin Header Header Wirine;Pi Pin
cameras which are arranged such that two cameras on either
3.3 V 1 2 5V
side and other two cameras are on the top of the fruit. X-ray GPI02 3 4 5V
imaging is utilized for detecting biological changes internally. GPIO 3 5 6 GND
An automated system grades the fruits and sorts them by GPI04 7 8 GPIO 14
analyzing the features. GND 9 IO GPIO 15
GPI017 11 12 GPIO 18
Sowmya and Sheelarani [13] use soft computing GPI027 13 14 GND
techniques for segmenting RGB color image. Neural network GPIO 22 15 16 GPI023
3.3 V I7 18 GPI024
and C means algorithm are used by them. Fuzzy set and Fussy
GPIO 10 19 20 GND
logic techniques are used by some researchers for solving
GPI09 21 22 GPI025
issues in segmentation. Fuzzy homogeneity approach was used GPIO II 23 24 GPI08
by Cheng et al. for the segmentation of RGB color image [15]. GND 25 26 GPI07
Genetic algorithm and artificial neural network techniques are DNC 27 28 DNC
also used for the same purpose [16]. GPIO 5 29 30 GND
GPI06 31 32 GPIO 12
III. PROPOSED SYSTEM OVERVIEW GPIO 13 33 34 GND
GPIO 19 35 36 GPIO 16
As discussed in introduction, the complete system is GPI026 37 38 GPI020
flexible, modular conveyor based fruit sorting system consist GND 39 40 GPI021
of Raspberry Pi Model B+ development board, conveyor belt
The system arrangement is done as shown in fig 4. The
system, sorting storage bins and Pi camera. Raspberry Pi is
target of our proposed system is to determine the ripeness of
itself a processor that manages all the information about
tomato and grade the accordingly. The steps to be carried out
motors and Pi camera. The signals to the Pi camera and motor
in system are image acquisition, feature extraction, sorting and
drivers are controlled by Raspberry Pi. It manages the speed of
grading. The block diagram of the system is shown in fig 2.
conveyor belt and keep updated about the other modules
Here, we have proposed a mechanical assembly consisting of
during fruit sorting process like ripeness determination, shape
conveyor system and grading assembly is shown in fig 3.
and size estimation, defect detection etc. Table 1 shows the
40 pin GPIO Connectors mounted on Raspberry Pi Model B+.

This automated system is designed to overcome the

problem of manual techniques. Here, the hardware model is
planned containing conveyor system, grading assembly, which
contains four storage bins, in which one storage bin at the end
of conveyor belt, and two storage bins on the other side of
conveyor belt, and one storage bin is on right side of conveyor
belt. To move the slider, D.C. motors are connected. A
development board as a Raspberry Pi Model B+, Pi camera,
monitor, keyboard and mouse are connected to the conveyor
belt system. The image is captured by the Pi camera. 12V DC
power supply is required to initiate the system and 5V DC
power supply is used to turn on Raspberry Pi development
Fig. 2. Proposed System Block Diagram
board.

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 determination of ripeness of tomato, detection of color is must.
According to color detected from an RGB image,
determination of ripeness of tomato is done. So, if red color is
detected from RGB image of tomato captured by camera, then
it is categorized in high ripeness class and if green color is
detected from RGB image of tomato, then it is categorized in
low ripeness class. Same principle is applicable for medium
ripen tomato. The ripeness of tomato is determined in
Raspberry Pi Model B+ by using the OpenCV libraries and
thus, color is detected.
Fig. 3. Hardware Model

0.

Fig 4. Grading Assembly

The Pi camera position should be adjusted such that, the

camera is continuously scanning the conveyor belt in video
mode because image captured by a camera is processed further Fig. 5. Proposed Flow Chart of Ripeness Determination
for the determination of ripeness and grading of tomato. The
Algorithm for the determination of ripeness of tomato:
white background color is easier to extract the fruit edge
characters so white color is used for the conveyor belt. 1. Start
Raspberry Pi Model B+ takes the captured image as input to
2. Capture an image of tomato
determine the degree of ripeness, estimate size and shape of
tomato and detect the defect of tomato. According to the 3. Convert the RGB image of tomato into the HSV
result, the action takes places, and motor starts accordingly. image.
Thus, fruit gets collected in the respective fruit storage bin by
4. Define the minimum and maximum values of the Hue
pushing it by the slider attached to motors.lf red color is
for red, green and yellow color.
detected by the Raspberry Pi, it shows the result as High
Ripeness Class. Motor Ml will move clock-wise direction and 5. Defme the minimum and maximum value of
Motor M2 and M3 will perform no operation. Thus, full ripen Saturation and Value as 0 and 255, respectively.
tomato will get slide down in the storage bin of High Ripeness
6. Obtain the blobs for each color.
Class. Similarly, if green color is detected by the Raspberry Pi,
it shows the result as Low Ripeness. Thus, motor Ml rotate 7. Create redness mask to fmd redness m the tomato
clockwise and the motor M2 rotate at anti-clockwise direction image.
and thus, finally motor M3 rotate in clockwise direction.
8. Create yellowness mask and greenness mask as well.
Hence, an unripe fruit gets collected in low ripeness class
storage bin. 9. Rthreshold, Gthreshold and Ythreshold give the
binary image showing corresponding color pixels as
IV. RIPENESS DETERMINATION
white.
To be precise, the proposed work determines the ripeness
10. Compute number of pixels containing each color in
of tomato. Flow chart for the determination of ripeness of
the output image
tomato is shown in fig 5. In this section, we have discussed the
methodology to determine the ripeness of tomato. 11. Find the maximum of three i.e. which of color is
maximum.
The determination of ripeness of tomato is possessed of
three main steps viz. Pre-processing, Color Feature Extraction 12. Compute Tomato Ripeness
and Classification of tomato. In the pre-processing step,
13. Show the results in an Image
operation is done on captured RGB image of tomato. Each
RGB image is converted to HSV image. In the course of 14. End

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 V. SHAPE AND SIZE ESTIMATION with respect to defmed distance. A usual clustering algorithm
used is K-means Clustering. K-means clustering is a fast
Size defines how big or small the object is, while the
process as well as straight forward process. Basically, the input
shape gives the outline of external boundaries. Size of fruit
dataset is partitioned in to clusters. K-means clustering
defines the dimensions of fruit, while shape of fruit defmes the
calculates the distance between the inputs and centers, and
sketch out of fruit. To classify a fruit, size and color of fruit is
assigns inputs with the nearest centers.
required. Once the ripeness of tomato is determined, the
pointer turns to the estimation of shape and size of tomato. The When the number of clusters is set to 2, on cluster
area of each color label defmed by a user is computed on the contains fruit part and other part contains the defected part and
fruit surface. background. If the cluster number is set to 3 then the defected
part can be separated from the background effectively. On
Algorithm for estimation of shape and size of tomato:
increasing the number of clusters, clusters formed on an image
1. Divide the image into contours and label index to goes on increasing. Further, if the number of cluster is
them. increased to 4 or 5 or more than that, then it is not possible to
segment all the defected portions of fruit. Hence, the nominal
2. Compare the area of each contour.
or typical value for the number of clusters is 3 or 4.
3. Find the biggest area among them.
The algorithm for defect detection is as follows:
4. Include the smallest area into the largest area and
1. Obtain fruit location using fruit blob function.
change the index label to the index of largest area.
2. Crop the image of fruit entangled in the rectangle.
5. Repeat the step 2, 3 and 4 until the full tomato is
scanned. 3. Convert the cropped RGB image of tomato into HSV
image.
6. Find the biggest area among them and name it as the
fruit size. 4. Apply K-means clustering on HSV image of tomato.

Depending upon the area of each color, an image is 5. Generate images that segment the input image by
divided into different contours. Each contour is labeled with a color which will result in different images based on
unique index. On determining the area of each contour, number of clusters.
comparison is done among the areas of each contour. The area
During the clustering operation, a vector spaced is formed
of small contour is included into the area of large contour.
based on data features and identifies the natural clustering in
Thus, it changes the index label of contour to the index of the
largest area. Repeat the above procedure until the whole image them. Clustering of objects is done around the centroid /-li'
of tomato is scanned. Therefore, at the output we obtain the where i = 1 ,2 , 3 , . . . k which is calculated by minimizing the
biggest fruit blob, fruit location and fruit size. The fruit blob
below equation.
function gives the index of biggest area of contour and display
it as the fruit size.
v = L�=, �::CX j - /-lJ2
jESi
VI. FRUIT LOCATION

As the image acquisition process is synchronised, every Where k=number of clusters i.e. Si = 1,2,3, . . . k and /-li
fruit is approximately place at the same place with respect to
is nothing but the centroid.
the image co-ordinates. The fruits have to be separated so as to
avoid the wrong estimation of size, because of the fruits The basic algorithm for k-means clustering is given as:
touching each other. To identify and separate the fruit from
1. Initialize the centres of clusters.
others, the location of fruit is determined by the factor 'Fruit
Location'. 2. Attribute the closest cluster to each data point.

VII. DEFECTS DETECTION
The value of the fruit depends on the quality of fruit.
Thus, it is important to separate out the defected fruit. Data
partitioning is a most common technique used for the analysis
of statistical data. The applications of data partitioning are
pattern recognition, data mining, machine learning, image
analysis, bioinformatics etc. Clustering is a process which
differentiates the objects into many different groups and the
data in each cluster contains some common characteristics
3. Set position of each cluster to the mean of all data
points belonging to that cluster.
4. Repeat the steps b and c until local minimum.
VIII. RESULT ANALYSIS
This section aims at the determination of ripeness of
tomato. The work is done on the live image captured by
camera mounted at proper distance. Here, an input RGB image
of tomato is expected to be with white background. Fig 5

218
shows the conversion of original RGB image to HSV image.
Fig 6(a) shows the original RGB image. Fig 6(b) shows the
respective HSV image.
From above, it is observed that the pixel count of red color
is maximum. We have provided a facility in our system to
detect and display the name of color from the pixel counts and
accordingly, decide the class of ripeness as shown in fig 9 and
10. The time required for the determination of ripeness of
tomato, estimation of shape and size and defect detection of
the respective image along with red, green ane yellow count is
shown in fig 11.

Red detec ted

(a) (b) Fig. 9. Color Detected

Fig. 6. (a) Original RGB Image, (b) HSV Image

R, G, B mask is generated from HSV image by defming

the minimum and maximum values of Hue (H) for green, red
and yellow color. Also, set the minimum and maximum value
of Saturation (S) and Value (V) as 0 and 255. Fig 7(a) shows
Redness mask. Fig 7(b) shows Yellowness mask. Fig 7(c)
shows Greenness mask.
(x=407, v=2)~R:255 G:255 B:255
Fig. 10. Result
S'i.ze=3 7 592
S'i.ze D etect'i.on t'i.�e 0.09 sec

R'i. peness detect'i. o n t'i.�e 0.02 sec

Area R=40084
Area Y=65
Area_ G=380
(a) (b) Red detected
K �eans cl u ster'i.n g t'i.�e 0.06 sec
T otal P rocess'i.n t'i.�e 1 .24 sec

Fig. 11. Time Required

On applying the shape and size estimation algorithm, the

biggest fruit blob and fruit size is obtained is as shown in fig
12(a). Here, the biggest area shows the fruit size. The canny
edge detector is used to extract the edges from the image as
shown in fig 12(b).

(c)

Fig. 7. (a) Redness Mask, (b) Greenness Mask, (c) Yellowness Mask

The main aim is to determine the ripeness of tomato.

Initially, count the nwnber of color pixels. Ripeness of tomato
is determined on comparing the number of pixel containing
color among them. The count of pixels containing red, yellow
and green color is named as Area_R, Area_Y and Area_G.
(a) (b)
From proposed algorithm, we obtained pixels count for
different color as shown in Fig 8.

Area R=40084
Area Y=6 5
Area G= 380 (c)
Fig. 8. Pixel Counts of Each Color Fig. 12. (a) Fruit Size, (b) Edge Detected Image, (c) Fruit Location

219
 To demonstrate the performance of K-mean clustering them in defected class. The result analysis is able to accurately
algorithm approach, we have taken defected tomato as case determine the ripeness of tomato. The modularity and
study. Fig 13(a) shows an image of defected tomato. When distributed nature of approach makes the system easy to be
number of cluster is set to 2, fruit part comprises one cluster upgraded in the future in order to increase quality standard.
while defected part and background comprises another one.
We have segmented the input image of defected tomato into REFERENCES

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