Taking the characteristics of the AMP as well as citrus
colour into account, in this work, the operator selected the
colour of citrus from the image using the touch pen by clicking
the touch screen and then drawing a line on an individual
citrus. It must be noted that the line should not go outside the
selected object. After the line is confirmed, the FCA will auto-
matically perform a 3 by 3 median filter to reduce noise caused
by sunlight scatter, and then search the R (red), G (green), and B
(blue) value of the sampled pixels for statistical analysis. The
citrus colour is primarily determined by the score of R and B,
where G was a constraint value. It was found that the citrus
could be separated from the background according to the in-
equalities 1 and 2. If the value of N is modified, a different
segmented image could be obtained. The FCA then calculated
the pixels of the individual citrus (PsIC) for the selected single
fruit and estimated the number of clustered fruits.