Affiliation:
1. School of Mechanical and Electronic Engineering, Nanjing Forestry University, Nanjing 210037, China
2. Co-Innovation Center of Efficient Processing and Utilization of Forest Resources, Nanjing Forestry University, Nanjing 210037, China
Abstract
Dragon fruit is one of the most popular fruits in China and Southeast Asia. It, however, is mainly picked manually, imposing high labor intensity on farmers. The hard branches and complex postures of dragon fruit make it difficult to achieve automated picking. For picking dragon fruits with diverse postures, this paper proposes a new dragon fruit detection method, not only to identify and locate the dragon fruit, but also to detect the endpoints that are at the head and root of the dragon fruit, which can provide more visual information for the dragon fruit picking robot. First, YOLOv7 is used to locate and classify the dragon fruit. Then, we propose a PSP-Ellipse method to further detect the endpoints of the dragon fruit, including dragon fruit segmentation via PSPNet, endpoints positioning via an ellipse fitting algorithm and endpoints classification via ResNet. To test the proposed method, some experiments are conducted. In dragon fruit detection, the precision, recall and average precision of YOLOv7 are 0.844, 0.924 and 0.932, respectively. YOLOv7 also performs better compared with some other models. In dragon fruit segmentation, the segmentation performance of PSPNet on dragon fruit is better than some other commonly used semantic segmentation models, with the segmentation precision, recall and mean intersection over union being 0.959, 0.943 and 0.906, respectively. In endpoints detection, the distance error and angle error of endpoints positioning based on ellipse fitting are 39.8 pixels and 4.3°, and the classification accuracy of endpoints based on ResNet is 0.92. The proposed PSP-Ellipse method makes a great improvement compared with two kinds of keypoint regression method based on ResNet and UNet. Orchard picking experiments verified that the method proposed in this paper is effective. The detection method proposed in this paper not only promotes the progress of the automatic picking of dragon fruit, but it also provides a reference for other fruit detection.
Funder
Jiangsu Province Agricultural Science and Technology Independent Innovation Project
Key R&D Program of Jiangsu Modern Agricultural Machinery Equipment and Technology Promotion Project
Key R&D plan of Jiangsu Province
emergency science and technology project of National Forestry and Grassland Administration
Self-made Experimental Teaching Instrument Project of Nanjing Forestry University
Subject
Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry
Cited by
24 articles.
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