This study aimed to produce a robust real-time pear fruit counter for mobile applications using only RGB data, the variants of the state-of-the-art object detection model YOLOv4, and the multiple object-tracking algorithm Deep SORT. This study also provided a systematic and pragmatic methodology for choosing the most suitable model for a desired application in agricultural sciences. In terms of accuracy, YOLOv4-CSP was observed as the optimal model, with an AP@0.50 of 98%. In terms of speed and computational cost, YOLOv4-tiny was found to be the ideal model, with a speed of more than 50 FPS and FLOPS of 6.8–14.5. If considering the balance in terms of accuracy, speed and computational cost, YOLOv4 was found to be most suitable and had the highest accuracy metrics while satisfying a real time speed of greater than or equal to 24 FPS. Between the two methods of counting with Deep SORT, the unique ID method was found to be more reliable, with an F1count of 87.85%. This was because YOLOv4 had a very low false negative in detecting pear fruits. The ROI line is more reliable because of its more restrictive nature, but due to flickering in detection it was not able to count some pears despite their being detected.

Real Time Pear Fruit Detection and Counting Using YOLOv4 Models and Deep SORT

For the automated robotic picking of bunch-type fruit, the strategy is to roughly determine the location of the bunches, plan the picking route from a remote location, and then locate the picking point precisely at a more appropriate, closer location. The latter can reduce the amount of information to be processed and obtain more precise and detailed features, thus improving the accuracy of the vision system. In this study, a long-close distance coordination control strategy for a litchi picking robot was proposed based on an Intel Realsense D435i camera combined with a point cloud map collected by the camera. The YOLOv5 object detection network and DBSCAN point cloud clustering method were used to determine the location of bunch fruits at a long distance to then deduce the sequence of picking. After reaching the close-distance position, the Mask RCNN instance segmentation method was used to segment the more distinctive bifurcate stems in the field of view. By processing segmentation masks, a dual reference model of “Point + Line” was proposed, which guided picking by the robotic arm. Compared with existing studies, this strategy took into account the advantages and disadvantages of depth cameras. By experimenting with the complete process, the density-clustering approach in long distance was able to classify different bunches at a closer distance, while a success rate of 88.46% was achieved during fruit-bearing branch locating. This was an exploratory work that provided a theoretical and technical reference for future research on fruit-picking robots. 

/pdf/a-study-on-long-close-distance-coordination-control-strategy-1o3orj0o.pdf

A Study on Long-Close Distance Coordination Control Strategy for Litchi Picking

In order to enable the picking robot to detect and locate apples quickly and accurately in the orchard natural environment, we propose an apple object detection method based on Shufflenetv2-YOLOX. This method takes YOLOX-Tiny as the baseline and uses the lightweight network Shufflenetv2 added with the convolutional block attention module (CBAM) as the backbone. An adaptive spatial feature fusion (ASFF) module is added to the PANet network to improve the detection accuracy, and only two extraction layers are used to simplify the network structure. The average precision (AP), precision, recall, and F1 of the trained network under the verification set are 96.76%, 95.62%, 93.75%, and 0.95, respectively, and the detection speed reaches 65 frames per second (FPS). The test results show that the AP value of Shufflenetv2-YOLOX is increased by 6.24% compared with YOLOX-Tiny, and the detection speed is increased by 18%. At the same time, it has a better detection effect and speed than the advanced lightweight networks YOLOv5-s, Efficientdet-d0, YOLOv4-Tiny, and Mobilenet-YOLOv4-Lite. Meanwhile, the half-precision floating-point (FP16) accuracy model on the embedded device Jetson Nano with TensorRT acceleration can reach 26.3 FPS. This method can provide an effective solution for the vision system of the apple picking robot.

/pdf/a-real-time-apple-targets-detection-method-for-picking-robot-ualqaxnc.pdf

A Real-Time Apple Targets Detection Method for Picking Robot Based on ShufflenetV2-YOLOX

An improved Yolov3 based on dual path network for cherry tomatoes detection

Rapid and accurate detection of Camellia oleifera fruit is beneficial to improve the picking efficiency. However, detection faces new challenges because of the complex field environment. A Camellia oleifera fruit detection method based on YOLOv7 network and multiple data augmentation was proposed to detect Camellia oleifera fruit in complex field scenes. Firstly, the images of Camellia oleifera fruit were collected in the field to establish training and test sets. Detection performance was then compared among YOLOv7, YOLOv5s, YOLOv3-spp and Faster R-CNN networks. The YOLOv7 network with the best performance was selected. A DA-YOLOv7 model was established via the YOLOv7 network combined with various data augmentation methods. The DA-YOLOv7 model had the best detection performance and a strong generalisation ability in complex scenes, with mAP, Precision, Recall, F1 score and average detection time of 96.03%, 94.76%, 95.54%, 95.15% and 0.025 s per image, respectively. Therefore, YOLOv7 combined with data augmentation can be used to detect Camellia oleifera fruit in complex scenes. This study provides a theoretical reference for the detection and harvesting of crops under complex conditions.

https://www.mdpi.com/2076-3417/12/22/11318/pdf?version=1667903918

Detection of Camellia oleifera Fruit in Complex Scenes by Using YOLOv7 and Data Augmentation

To enable the apple picking robot to quickly and accurately detect apples under the complex background in orchards, we propose an improved You Only Look Once version 4 (YOLOv4) model and data augmentation methods. Firstly, the crawler technology is utilized to collect pertinent apple images from the Internet for labeling. For the problem of insufficient image data caused by the random occlusion between leaves, in addition to traditional data augmentation techniques, a leaf illustration data augmentation method is proposed in this paper to accomplish data augmentation. Secondly, due to the large size and calculation of the YOLOv4 model, the backbone network Cross Stage Partial Darknet53 (CSPDarknet53) of the YOLOv4 model is replaced by EfficientNet, and convolution layer (Conv2D) is added to the three outputs to further adjust and extract the features, which make the model lighter and reduce the computational complexity. Finally, the apple detection experiment is performed on 2670 expanded samples. The test results show that the EfficientNet-B0-YOLOv4 model proposed in this paper has better detection performance than YOLOv3, YOLOv4, and Faster R-CNN with ResNet, which are state-of-the-art apple detection model. The average values of Recall, Precision, and F1 reach 97.43%, 95.52%, and 96.54% respectively, the average detection time per frame of the model is 0.338 s, which proves that the proposed method can be well applied in the vision system of picking robots in the apple industry.

Apple Detection in Complex Scene Using the Improved YOLOv4 Model

Understanding the spatial distribution of urban forest ecosystem services is essential for urban planners and managers to effectively manage cities and is an essential part of sustainable urban development. Mapping the spatial distribution of urban forest ecosystem services and improving the accuracy of its assessment scale will undoubtedly provide a more accurate reference basis for later management. In this study, we used the i-Tree Eco model and kriging interpolation to quantify and map urban forest ecosystem services and their spatial distribution in Zhengzhou, a city along the lower reaches of the Yellow River in China; analyzed the mapping errors and applicable conditions; and further explored the spatial differences using geographic probes. The i-Tree Eco model estimation results showed that the total carbon storage in the urban forest of Zhengzhou city was 75.7 tons, the annual carbon sequestration was 14.66 tons, the trees and shrubs in the urban area of Zhengzhou city could effectively avoid a total of 307.86 m3 of surface runoff per year, and trees and shrubs removed 411.8 kg/year of air pollution (O3, CO, NO2, PM2.5, PM10, and SO2). The spatial distribution of all urban forest ecosystem services showed significant heterogeneity, but the spatial evaluation precision of different factors varied. GDP and population data showed a negative correlation with ecosystem services, and ecosystem services were abundant in watershed and woodland areas. This study differs from traditional assessments based on regional data due to its improved spatial evaluation accuracy, and the results, discussion, and analysis not only help Zhengzhou’s own urban development, but also provide a basis for the future construction and management of other cities, the Central Plains urban agglomeration, and the surrounding larger regions. This will contribute to the enhancement of ecosystem services and thus improve the ecological conditions of the region. This will also have a positive effect on the health of urban residents.

/pdf/spatial-heterogeneity-analysis-of-urban-forest-ecosystem-3j01b1ud.pdf

Hong Liu

Papers

Apple Detection in Complex Scene Using the Improved YOLOv4 Model

Spatial Heterogeneity analysis of urban forest ecosystem services in Zhengzhou City