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Unstructured road extraction and roadside fruit recognition in grape orchards based on a synchronous detection algorithm
Accurate road extraction and recognition of roadside fruit in complex orchard environments are essential prerequisites for robotic fruit picking and walking behavioral decisions. In this study, a novel algorithm was proposed for unstructured road extraction and roadside fruit synchronous recognition...
Autores principales: | , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Frontiers Media S.A.
2023
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10272741/ https://www.ncbi.nlm.nih.gov/pubmed/37332733 http://dx.doi.org/10.3389/fpls.2023.1103276 |
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author | Zhou, Xinzhao Zou, Xiangjun Tang, Wei Yan, Zhiwei Meng, Hewei Luo, Xiwen |
author_facet | Zhou, Xinzhao Zou, Xiangjun Tang, Wei Yan, Zhiwei Meng, Hewei Luo, Xiwen |
author_sort | Zhou, Xinzhao |
collection | PubMed |
description | Accurate road extraction and recognition of roadside fruit in complex orchard environments are essential prerequisites for robotic fruit picking and walking behavioral decisions. In this study, a novel algorithm was proposed for unstructured road extraction and roadside fruit synchronous recognition, with wine grapes and nonstructural orchards as research objects. Initially, a preprocessing method tailored to field orchards was proposed to reduce the interference of adverse factors in the operating environment. The preprocessing method contained 4 parts: interception of regions of interest, bilateral filter, logarithmic space transformation and image enhancement based on the MSRCR algorithm. Subsequently, the analysis of the enhanced image enabled the optimization of the gray factor, and a road region extraction method based on dual-space fusion was proposed by color channel enhancement and gray factor optimization. Furthermore, the YOLO model suitable for grape cluster recognition in the wild environment was selected, and its parameters were optimized to enhance the recognition performance of the model for randomly distributed grapes. Finally, a fusion recognition framework was innovatively established, wherein the road extraction result was taken as input, and the optimized parameter YOLO model was utilized to identify roadside fruits, thus realizing synchronous road extraction and roadside fruit detection. Experimental results demonstrated that the proposed method based on the pretreatment could reduce the impact of interfering factors in complex orchard environments and enhance the quality of road extraction. Using the optimized YOLOv7 model, the precision, recall, mAP, and F1-score for roadside fruit cluster detection were 88.9%, 89.7%, 93.4%, and 89.3%, respectively, all of which were higher than those of the YOLOv5 model and were more suitable for roadside grape recognition. Compared to the identification results obtained by the grape detection algorithm alone, the proposed synchronous algorithm increased the number of fruit identifications by 23.84% and the detection speed by 14.33%. This research enhanced the perception ability of robots and provided a solid support for behavioral decision systems. |
format | Online Article Text |
id | pubmed-10272741 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2023 |
publisher | Frontiers Media S.A. |
record_format | MEDLINE/PubMed |
spelling | pubmed-102727412023-06-17 Unstructured road extraction and roadside fruit recognition in grape orchards based on a synchronous detection algorithm Zhou, Xinzhao Zou, Xiangjun Tang, Wei Yan, Zhiwei Meng, Hewei Luo, Xiwen Front Plant Sci Plant Science Accurate road extraction and recognition of roadside fruit in complex orchard environments are essential prerequisites for robotic fruit picking and walking behavioral decisions. In this study, a novel algorithm was proposed for unstructured road extraction and roadside fruit synchronous recognition, with wine grapes and nonstructural orchards as research objects. Initially, a preprocessing method tailored to field orchards was proposed to reduce the interference of adverse factors in the operating environment. The preprocessing method contained 4 parts: interception of regions of interest, bilateral filter, logarithmic space transformation and image enhancement based on the MSRCR algorithm. Subsequently, the analysis of the enhanced image enabled the optimization of the gray factor, and a road region extraction method based on dual-space fusion was proposed by color channel enhancement and gray factor optimization. Furthermore, the YOLO model suitable for grape cluster recognition in the wild environment was selected, and its parameters were optimized to enhance the recognition performance of the model for randomly distributed grapes. Finally, a fusion recognition framework was innovatively established, wherein the road extraction result was taken as input, and the optimized parameter YOLO model was utilized to identify roadside fruits, thus realizing synchronous road extraction and roadside fruit detection. Experimental results demonstrated that the proposed method based on the pretreatment could reduce the impact of interfering factors in complex orchard environments and enhance the quality of road extraction. Using the optimized YOLOv7 model, the precision, recall, mAP, and F1-score for roadside fruit cluster detection were 88.9%, 89.7%, 93.4%, and 89.3%, respectively, all of which were higher than those of the YOLOv5 model and were more suitable for roadside grape recognition. Compared to the identification results obtained by the grape detection algorithm alone, the proposed synchronous algorithm increased the number of fruit identifications by 23.84% and the detection speed by 14.33%. This research enhanced the perception ability of robots and provided a solid support for behavioral decision systems. Frontiers Media S.A. 2023-06-02 /pmc/articles/PMC10272741/ /pubmed/37332733 http://dx.doi.org/10.3389/fpls.2023.1103276 Text en Copyright © 2023 Zhou, Zou, Tang, Yan, Meng and Luo https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms. |
spellingShingle | Plant Science Zhou, Xinzhao Zou, Xiangjun Tang, Wei Yan, Zhiwei Meng, Hewei Luo, Xiwen Unstructured road extraction and roadside fruit recognition in grape orchards based on a synchronous detection algorithm |
title | Unstructured road extraction and roadside fruit recognition in grape orchards based on a synchronous detection algorithm |
title_full | Unstructured road extraction and roadside fruit recognition in grape orchards based on a synchronous detection algorithm |
title_fullStr | Unstructured road extraction and roadside fruit recognition in grape orchards based on a synchronous detection algorithm |
title_full_unstemmed | Unstructured road extraction and roadside fruit recognition in grape orchards based on a synchronous detection algorithm |
title_short | Unstructured road extraction and roadside fruit recognition in grape orchards based on a synchronous detection algorithm |
title_sort | unstructured road extraction and roadside fruit recognition in grape orchards based on a synchronous detection algorithm |
topic | Plant Science |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10272741/ https://www.ncbi.nlm.nih.gov/pubmed/37332733 http://dx.doi.org/10.3389/fpls.2023.1103276 |
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