Explore the vast range of titles available.

In the viticulture sector, robots are being employed more frequently to increase productivity and accuracy in operations such as vineyard mapping, pruning, and harvesting, especially in locations where human labor is in short supply or expensive. This paper presents the development of an algorithm for grape maturity estimation in the framework of vineyard management. An object detection algorithm is proposed based on You Only Look Once (YOLO) v7 and its extensions in order to detect grape maturity in a white variety of grape (Assyrtiko grape variety). The proposed algorithm was trained using images received over a period of six weeks from grapevines in Drama, Greece. Tests on high-quality images have demonstrated that the detection of five grape maturity stages is possible. Furthermore, the proposed approach has been compared against alternative object detection algorithms. The results showed that YOLO v7 outperforms other architectures both in precision and accuracy. This work paves the way for the development of an autonomous robot for grapevine management.

To address the excessive parameters and computational burden of existing cotton maturity detection models, this study develops a lightweight, high-precision network architecture based on YOLOv10n. First, we propose a collaborative optimization of the baseline C2f module by integrating Dynamic Convolution with the Ghost module, which both dramatically reduces parameter count and enhances feature representation. Next, we incorporate a streamlined detection head, Detect-PConv, to further lower computational load and improve detection performance. Finally, we replace all standard convolutions with Ghost Convolutions to optimize the balance between accuracy and efficiency. Experimental results demonstrate that the improved model reduces parameters by 55.4% and FLOPs by 73.2%, while achieving 94.1% precision and 85.9% mAP. Compared to the baseline, precision increases by 7.3% and mAP by 1.9%. Validation experiments confirm that the proposed network markedly lowers computational complexity while substantially enhancing cotton maturity detection performance.

In order to solve the problems that existing tomato maturity detection methods struggle to take into account both common tomato and cherry tomato varieties in complex field environments (such as light change, occlusion, and fruit overlap) and the model size being too large, this paper proposes a lightweight tomato maturity detection model based on improved YOLO11, named GFS-YOLO11. In order to achieve a lightweight network, we propose the C3k2_Ghost module to replace the C3K2 module in the original network, which can ensure a feature extraction capability and reduce model computation. In order to compensate for the potential feature loss caused by the light weight, this paper proposes a feature-refining module (FRM). After embedding each feature extraction module in the trunk network, it improves the feature expression ability of common tomato and cherry tomato in complex field environments by means of depth-separable convolution, multi-scale pooling, and channel attention and spatial attention mechanisms. In addition, in order to further improve the detection ability of the model for tomatoes of different sizes, the SPPFELAN module is also proposed in this paper. In combining the advantages of SPPF and ELAN, multiple parallel SPPF branches are used to extract features of different levels and perform splicing and fusion. To verify the validity of the method, this study constructed a dataset of 1061 images of common and cherry tomatoes, covering tomatoes in six ripened categories. The experimental results show that the performance of the GFS-YOLO11 model is significantly improved compared with the original model; the P, R, mAP50, and MAP50-95 increased by 5.8%, 4.9%, 6.2%, and 5.5%, respectively, and the number of parameters and calculation amount were reduced by 35.9% and 22.5%, respectively. The GFS-YOLO11 model is lightweight while maintaining high precision, can effectively cope with complex field environments, and more conveniently meet the needs of real-time maturity detection of common tomatoes and cherry tomatoes.

To enhance the efficiency of mechanical automatic picking of cherry tomatoes in a precision agriculture environment, this study proposes an improved target detection algorithm based on YOLOv5n. The improvement steps are as follows: First, the K-means++ clustering algorithm is utilized to update the scale and aspect ratio of the anchor box, adapting it to the shape characteristics of cherry tomatoes. Secondly, the coordinate attention (CA) mechanism is introduced to expand the receptive field range and reduce interference from branches, dead leaves, and other backgrounds in the recognition of cherry tomato maturity. Next, the traditional loss function is replaced by the bounding box regression loss with dynamic focusing mechanism (WIoU) loss function. The outlier degree and dynamic nonmonotonic focusing mechanism are introduced to address the boundary box regression balance problem between high-quality and low-quality data. This research employs a self-built cherry tomato dataset to train the target detection algorithms before and after the improvements. Comparative experiments are conducted with YOLO series algorithms. The experimental results indicate that the improved model has achieved a 1.4% increase in both precision and recall compared to the previous model. It achieves an average accuracy mAP of 95.2%, an average detection time of 5.3 ms, and a weight file size of only 4.4 MB. These results demonstrate that the model fulfills the requirements for real-time detection and lightweight applications. It is highly suitable for deployment in embedded systems and mobile devices. The improved model presented in this paper enables real-time target recognition and maturity detection for cherry tomatoes. It provides rapid and accurate target recognition guidance for achieving mechanical automatic picking of cherry tomatoes.

Crop maturity status recognition is a key component of automated harvesting. Traditional manual detection methods are inefficient and costly, presenting a significant challenge for the agricultural industry. To improve crop maturity detection, we propose enhancements to the Real-Time DEtection TRansformer (RT-DETR) method. The original model's Backbone structure is refined by: HG Block Enhancement: Replacing conventional convolution with the Rep Block during feature extraction, incorporating multiple branches to improve model accuracy. Partial Convolution (PConv): Replacing traditional convolution in the Rep Block with PConv, which applies convolution to only a portion of the input channels, reducing computational redundancy. Efficient Multi-Scale Attention (EMA): Introducing EMA to ensure a uniform distribution of spatial semantic features within feature groups, improving model performance and efficiency. The refined model significantly enhances detection accuracy. Compared to the original model, the average accuracy (mAP@0.5) improves by 2.9%, while model size is reduced by 5.5% and computational complexity decreases by 9.6%. Further experiments comparing the RT-DETR model, YOLOv8, and our improved model on plant pest detection datasets show that our model outperforms others in general scenarios. The experimental results validate the efficacy of the enhanced RT-DETR model in crop maturity detection. The improvements not only enhance detection accuracy but also reduce model size and computational complexity, making it a promising solution for automated crop maturity detection.

Broccoli is an example of a high-value crop that requires delicate handling throughout the growing season and during its post-harvesting treatment. As broccoli heads can be easily damaged, they are still harvested by hand. Moreover, human scouting is required to initially identify the field segments where several broccoli plants have reached the desired maturity level, such that they can be harvested while they are in the optimal condition. The aim of this study was to automate this process using state-of-the-art Object Detection architectures trained on georeferenced orthomosaic-derived RGB images captured from low-altitude UAV flights, and to assess their capacity to effectively detect and classify broccoli heads based on their maturity level. The results revealed that the object detection approach for automated maturity classification achieved comparable results to physical scouting overall, especially for the two best-performing architectures, namely Faster R-CNN and CenterNet. Their respective performances were consistently over 80% mAP@50 and 70% mAP@75 when using three levels of maturity, and even higher when simplifying the use case into a two-class problem, exceeding 91% and 83%, respectively. At the same time, geometrical transformations for data augmentations reported improvements, while colour distortions were counterproductive. The best-performing architecture and the trained model could be tested as a prototype in real-time UAV detections in order to assist in on-field broccoli maturity detection.

Current object detection algorithms lack accuracy in detecting citrus maturity color, and feature extraction needs improvement. In automated harvesting, accurate maturity detection reduces waste caused by incorrect evaluations. To address this issue, this study proposes an improved YOLOv8-based method for detecting Xinhui citrus maturity. GhostConv was introduced to replace the ordinary convolution in the Head of YOLOv8, reducing the number of parameters in the model and enhancing detection accuracy. The CARAFE (Content-Aware Reassembly of Features) upsampling operator was used to replace the conventional upsampling operation, retaining more details through feature reorganization and expansion. Additionally, the MCA (Multidimensional Collaborative Attention) mechanism was introduced to focus on capturing the local feature interactions between feature mapping channels, enabling the model to more accurately extract detailed features, thus further improving the accuracy of citrus color identification. Experimental results show that the precision, recall, and average precision of the improved YOLOv8 on the test set are 88.6%, 93.1%, and 93.4%, respectively. Compared to the original model, the improved YOLOv8 achieved increases of 16.5%, 20.2%, and 14.7%, respectively, and the parameter volume was reduced by 0.57%. This paper aims to improve the model for detecting Xinhui citrus maturity in complex orchards, supporting automated fruit-picking systems.

Lotus seedpod maturity detection and segmentation in pond environments play a significant role in yield prediction and picking pose estimation for lotus seedpods. However, it is a great challenge to accurately detect and segment lotus seedpods due to insignificant phenotypic differences between the adjacent maturity, changing illumination, overlap, and occlusion of lotus seedpods. The existing research pays attention to lotus seedpod detection while ignoring maturity detection and segmentation problems. Therefore, a semantic segmentation dataset of lotus seedpods was created, where a copy-and-paste data augmentation tool was employed to eliminate the class-imbalanced problem and improve model generalization ability. Afterwards, an improved YOLOv8-seg model was proposed to detect and segment the maturity of lotus seedpods. In the model, the convolutional block attention module (CBAM) was embedded in the neck network to extract distinguished features of different maturity stages with negligible computation cost. Wise-Intersection over Union (WIoU) regression loss function was adopted to refine the regression inference bias and improve the bounding box prediction accuracy. The experimental results showed that the proposed YOLOv8-seg model provides an effective method for “ripe” and “overripe” lotus seedpod detection and instance segmentation, where the mean average precision of segmentation mask (mAPmask) reaches 97.4% and 98.6%, respectively. In addition, the improved YOLOv8-seg exhibits high robustness and adaptability to complex illumination in a challenging environment. Comparative experiments were conducted using the proposed YOLOv8-seg and other state-of-the-art instance segmentation methods. The results showed that the improved model is superior to the Mask R-CNN and YOLACT models, with recall, precision, mAPbox and mAPmask being 96.5%, 94.3%, 97.8%, and 98%, respectively. The average running time and weight size of the proposed model are 25.9 ms and 7.4 M, respectively. The proposed model obtained the highest mAP for lotus seedpod maturity detection and segmentation while maintaining an appropriate model size and speed. Furthermore, based on the obtained segmentation model, 3D visualization of the lotus pond scene is performed, and cloud point of lotus seedpods is generated, which provides a theoretical foundation for robot harvesting in the lotus pond.

Maturity stage of fresh banana fruit is an important factor that affects the fruit quality during ripening and marketability after ripening. The ability to identify maturity of fresh banana fruit will be a great support for farmers to optimize harvesting phase which helps to avoid harvesting either under-matured or over-matured banana. This study attempted to use image processing technique to detect the maturity stage of fresh banana fruit by its color and size value of their images precisely. A total of 120 images comprising 40 images from each stage such as under-mature, mature and over-mature were used for developing algorithm and accuracy prediction. The mean color intensity from histogram; area, perimeter, major axis length and minor axis length from the size values, were extracted from the calibration images. Analysis of variance between each maturity stage on these features indicated that the mean color intensity and area features were more significant in predicting the maturity of banana fruit. Hence, two classifier algorithms namely, mean color intensity algorithm and area algorithm were developed and their accuracy on maturity detection was assessed. The mean color intensity algorithm showed 99.1 % accuracy in classifying the banana fruit maturity. The area algorithm classified the under-mature fruit at 85 % accuracy. Hence the maturity assessment technique proposed in this paper could be used commercially to develop a field based complete automatic detection system to take decision on the right time of harvest by the banana growers.