On behalf of Mettler Toledo (Albstadt) GmbH a vision based system was developed at Fraunhofer IITB for automatically detecting and recognizing fruits and vegetables. The system is currently in use in German super markets and consists of a monocular color camera and a scale.
Many fruits have different colors and textures due to different degrees of maturity, e.g. banana. Other fruits, like apples or pears, provide several types with different colors and shapes. Finally, often the fruits are packed into plastic bags which mostly give the fruits a totally different texture due to reflexions and shadows.