Journal Article

A Comparative Benchmark of Real-Time Detectors for Canopy Image-Based Blueberry Detection Toward Precision Orchard Management

Mu, Xinyang, Lu, Yuzhen, Deng, Boyang

2026

Overview

Computer vision with artificial intelligence (AI) offers a promising tool for blueberry growers to accomplish orchard tasks such as harvest maturity assessment and yield estimation, which otherwise would be labor-intensive and prone to error. However, blueberry detection in natural environments remains challenging due to variable natural lighting, frequent occlusions by leaves and branches, and motion blur due to environmental factors and imaging devices. AI models such as deep learning-based object detectors promise to address these challenges, but they are data-driven, demanding a large-scale, diverse dataset that captures the complexities of real-world orchard conditions. Deployment of these models in practical scenarios often faces limited computing resources, highlighting the importance of achieving the right accuracy/speed/memory trade-off in model selection. This study presents a novel comparative benchmark analysis of advanced real-time object detectors, including YOLO (You Only Look Once) (v8–v12) and RT-DETR (Real-Time Detection Transformers) (v1–v2) families, consisting of 36 model variants, evaluated on a newly curated large dataset for blueberry detection. This dataset contained 661 canopy images collected with smartphones during the 2022–2023 seasons, consisting of 85,879 manually annotated instances (including 36,256 ripe and 49,623 unripe blueberries) that represent a broad range of lighting conditions, occlusions, and fruit maturity stages. Among the YOLO models, YOLOv12m achieved the best accuracy with a mAP@50 of 93.3%, while RT-DETRv2-X obtained a mAP@50 of 93.6%, the highest among all RT-DETR variants. The inference time varied with the model scale and complexity, and the mid-sized models appeared to offer a good balance between accuracy and speed. To further improve fruit detection performance, all models were fine-tuned using Unbiased Mean Teacher-based semi-supervised learning (SSL) with 1644 cross-source unlabeled canopy images acquired from ground-based machine vision platforms. SSL resulted in accuracy improvements of up to 2.0%, with RT-DETR-v2-X achieving the highest mAP@50 of 95.5%. These findings highlight the efficacy of SSL for leveraging cross-domain unlabeled data, although further research is needed to fully exploit its benefits. The curated dataset and developed software programs are publicly available to facilitate further research and practical deployment.