Jiaoliao Chen , Huan Chen , Fang Xu , Mengnan Lin , Dan Zhang , Libin Zhang
{"title":"在嵌入式平台上使用 ESP-YOLO 网络实时检测成熟的餐桌葡萄","authors":"Jiaoliao Chen , Huan Chen , Fang Xu , Mengnan Lin , Dan Zhang , Libin Zhang","doi":"10.1016/j.biosystemseng.2024.07.014","DOIUrl":null,"url":null,"abstract":"<div><p>The real-time and high-precision detection methods on embedded platforms are critical for harvesting robots to accurately locate the position of the table grapes. A novel detection method (ESP-YOLO) for the table grapes in the trellis structured orchards is proposed to improve the detection accuracy and efficiency based on You Only Look Once (YOLO), Efficient Layer Shuffle Aggregation Networks (ELSAN), Squeeze-and-Excitation (SE), Partial Convolution (PConv) and Soft Non-maximum suppression (Soft_NMS). According to cross-group information interchange, the channel shuffle operation is presented to modify transition layers instead of the CSPDarkNet53 (C3) in backbone networks for the table grape feature extraction. The PConv is utilised in the neck network to extract the part channel's features for the inference speed and spatial features. SE is inserted in backbone networks to adjust the channel weight for channel-wise features of grape images. Then, Soft_NMS is modified to enhance the segmentation capability for densely clustered grapes. The algorithm is conducted on embedded platforms to detect table grapes in complex scenarios, including the overlap of multi-grape adhesion and the occlusion of stems and leaves. ELSAN block boosts inference speed by 46% while maintaining accuracy. The <span><span><span>[email protected]</span>:0.95</span><svg><path></path></svg></span> of ESP-YOLO surpasses that of other advanced methods by 3.7%–16.8%. ESP-YOLO can be a useful tool for harvesting robots to detect table grapes accurately and quickly in various complex scenarios.</p></div>","PeriodicalId":9173,"journal":{"name":"Biosystems Engineering","volume":"246 ","pages":"Pages 122-134"},"PeriodicalIF":4.4000,"publicationDate":"2024-07-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Real-time detection of mature table grapes using ESP-YOLO network on embedded platforms\",\"authors\":\"Jiaoliao Chen , Huan Chen , Fang Xu , Mengnan Lin , Dan Zhang , Libin Zhang\",\"doi\":\"10.1016/j.biosystemseng.2024.07.014\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><p>The real-time and high-precision detection methods on embedded platforms are critical for harvesting robots to accurately locate the position of the table grapes. A novel detection method (ESP-YOLO) for the table grapes in the trellis structured orchards is proposed to improve the detection accuracy and efficiency based on You Only Look Once (YOLO), Efficient Layer Shuffle Aggregation Networks (ELSAN), Squeeze-and-Excitation (SE), Partial Convolution (PConv) and Soft Non-maximum suppression (Soft_NMS). According to cross-group information interchange, the channel shuffle operation is presented to modify transition layers instead of the CSPDarkNet53 (C3) in backbone networks for the table grape feature extraction. The PConv is utilised in the neck network to extract the part channel's features for the inference speed and spatial features. SE is inserted in backbone networks to adjust the channel weight for channel-wise features of grape images. Then, Soft_NMS is modified to enhance the segmentation capability for densely clustered grapes. The algorithm is conducted on embedded platforms to detect table grapes in complex scenarios, including the overlap of multi-grape adhesion and the occlusion of stems and leaves. ELSAN block boosts inference speed by 46% while maintaining accuracy. The <span><span><span>[email protected]</span>:0.95</span><svg><path></path></svg></span> of ESP-YOLO surpasses that of other advanced methods by 3.7%–16.8%. ESP-YOLO can be a useful tool for harvesting robots to detect table grapes accurately and quickly in various complex scenarios.</p></div>\",\"PeriodicalId\":9173,\"journal\":{\"name\":\"Biosystems Engineering\",\"volume\":\"246 \",\"pages\":\"Pages 122-134\"},\"PeriodicalIF\":4.4000,\"publicationDate\":\"2024-07-31\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Biosystems Engineering\",\"FirstCategoryId\":\"97\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S1537511024001673\",\"RegionNum\":1,\"RegionCategory\":\"农林科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"AGRICULTURAL ENGINEERING\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Biosystems Engineering","FirstCategoryId":"97","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S1537511024001673","RegionNum":1,"RegionCategory":"农林科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"AGRICULTURAL ENGINEERING","Score":null,"Total":0}
Real-time detection of mature table grapes using ESP-YOLO network on embedded platforms
The real-time and high-precision detection methods on embedded platforms are critical for harvesting robots to accurately locate the position of the table grapes. A novel detection method (ESP-YOLO) for the table grapes in the trellis structured orchards is proposed to improve the detection accuracy and efficiency based on You Only Look Once (YOLO), Efficient Layer Shuffle Aggregation Networks (ELSAN), Squeeze-and-Excitation (SE), Partial Convolution (PConv) and Soft Non-maximum suppression (Soft_NMS). According to cross-group information interchange, the channel shuffle operation is presented to modify transition layers instead of the CSPDarkNet53 (C3) in backbone networks for the table grape feature extraction. The PConv is utilised in the neck network to extract the part channel's features for the inference speed and spatial features. SE is inserted in backbone networks to adjust the channel weight for channel-wise features of grape images. Then, Soft_NMS is modified to enhance the segmentation capability for densely clustered grapes. The algorithm is conducted on embedded platforms to detect table grapes in complex scenarios, including the overlap of multi-grape adhesion and the occlusion of stems and leaves. ELSAN block boosts inference speed by 46% while maintaining accuracy. The [email protected]:0.95 of ESP-YOLO surpasses that of other advanced methods by 3.7%–16.8%. ESP-YOLO can be a useful tool for harvesting robots to detect table grapes accurately and quickly in various complex scenarios.
期刊介绍:
Biosystems Engineering publishes research in engineering and the physical sciences that represent advances in understanding or modelling of the performance of biological systems for sustainable developments in land use and the environment, agriculture and amenity, bioproduction processes and the food chain. The subject matter of the journal reflects the wide range and interdisciplinary nature of research in engineering for biological systems.