StrawSnake: A Real-Time Strawberry Instance Segmentation Network Based on the Contour Learning Approach

Abstract

Automated harvesting systems rely heavily on precise and real-time fruit recognition, which is essential for improving efficiency and reducing labor costs. Strawberries, due to their delicate structure and complex growing environments, present unique challenges for automated recognition systems. Current methods predominantly utilize pixel-level and box-based approaches, which are insufficient for real-time applications due to their inability to accurately pinpoint strawberry locations. To address these limitations, this study proposes StrawSnake, a contour-based detection and segmentation network tailored for strawberries. By designing a strawberry-specific octagonal contour and employing deep snake convolution (DSConv) for boundary feature extraction, StrawSnake significantly enhances recognition accuracy and speed. The Multi-scale Feature Reinforcement Block (MFRB) further strengthens the model by focusing on crucial boundary features and aggregating multi-level contour information, which improves global context comprehension. The newly developed TongStraw_DB database and the public StrawDI_Db1 database, consisting of 1080 and 3100 high-resolution strawberry images with manually segmented ground truth contours, respectively, serves as a robust foundation for training and validation. The results indicate that StrawSnake achieves real-time recognition capabilities with high accuracy, outperforming existing methods in various comparative tests. Ablation studies confirm the effectiveness of the DSConv and MFRB modules in boosting performance. StrawSnake’s integration into automated harvesting systems marks a substantial step forward in the field, promising enhanced precision and efficiency in strawberry recognition tasks. This innovation underscores the method’s potential to transform automated harvesting technologies, making them more reliable and effective for practical applications.