Using an improved lightweight YOLOv8 model for real-time detection of multi-stage apple fruit in complex orchard environments

Abstract

For the purpose of monitoring apple fruits effectively throughout the entire growth period in smart orchards. A lightweight model named YOLOv8n-ShuffleNetv2-Ghost-SE was proposed. The ShuffleNetv2 basic modules and down-sampling modules were alternately connected, replacing the Backbone of YOLOv8n model. The Ghost modules replaced the Conv modules and the C2fGhost modules replaced the C2f modules in the Neck part of the YOLOv8n. ShuffleNetv2 reduced the memory access cost through channel splitting operations. The Ghost module combined linear and non-linear convolutions to reduce the network computation cost. The Wise-IoU (WIoU) replaced the CIoU for calculating the bounding box regression loss, which dynamically adjusted the anchor box quality threshold and gradient gain allocation strategy, optimizing the size and position of predicted bounding boxes. The Squeeze-and-Excitation (SE) was embedded in the Backbone and Neck part of YOLOv8n to enhance the representation ability of feature maps. The algorithm ensured high precision while having small model size and fast detection speed, which facilitated model migration and deployment. Using 9652 images validated the effectiveness of the model. The YOLOv8n-ShuffleNetv2-Ghost-SE model achieved Precision of 94.1%, Recall of 82.6%, mean Average Precision of 91.4%, model size of 2.6 MB, parameters of 1.18 M, FLOPs of 3.9 G, and detection speed of 39.37 fps. The detection speeds on the Jetson Xavier NX development board were 3.17 fps. Comparisons with advanced models including Faster R-CNN, SSD, YOLOv5s, YOLOv7‑tiny, YOLOv8s, YOLOv8n, MobileNetv3_small-Faster, MobileNetv3_small-Ghost, ShuflleNetv2-Faster, ShuflleNetv2-Ghost, ShuflleNetv2-Ghost-CBAM, ShuflleNetv2-Ghost-ECA, and ShuflleNetv2-Ghost-CA demonstrated that the method achieved smaller model and faster detection speed. The research can provide reference for the development of smart devices in apple orchards.