Fruit detection and positioning technology for a Camellia oleifera C. Abel orchard based on improved YOLOv4-tiny model and binocular stereo vision

作者：

Highlights：

• Object detection based on deep learning is applied to binocular location.

• An improved Camellia oleifera fruit detection model is proposed.

• The calculation amount of stereo matching is reduced.

• It provides visual technical reference for field picking robots.

摘要

•Object detection based on deep learning is applied to binocular location.•An improved Camellia oleifera fruit detection model is proposed.•The calculation amount of stereo matching is reduced.•It provides visual technical reference for field picking robots.

论文关键词：Mobile harvesting robots,Binocular stereo vision,Image detection,Deep learning,YOLOv4-tiny model,Stereo matching,Fruit positioning

论文评审过程：Received 3 May 2021, Revised 10 August 2022, Accepted 13 August 2022, Available online 30 August 2022, Version of Record 5 September 2022.

论文官网地址：https://doi.org/10.1016/j.eswa.2022.118573