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基于改進(jìn)YOLO v3的自然場景下冬棗果實(shí)識別方法
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國家重點(diǎn)研發(fā)計(jì)劃項(xiàng)目(2019YFD1001605),、國家自然科學(xué)基金項(xiàng)目(61972132),、河北省研究生創(chuàng)新資助項(xiàng)目(CXZZBS2019090)和河北省高等學(xué)校科學(xué)研究項(xiàng)目青年基金項(xiàng)目(QN2018084,、QN2021409)


Winter Jujube Fruit Recognition Method Based on Improved YOLO v3 under Natural Scene
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    摘要:

    為實(shí)現(xiàn)自然場景下冬棗果實(shí)的快速,、精準(zhǔn)識別,考慮到光線變化,、枝葉遮擋,、果實(shí)密集重疊等復(fù)雜因素,基于YOLO v3深度卷積神經(jīng)網(wǎng)絡(luò)提出了一種基于改進(jìn)YOLO v3(YOLO v3-SE)的冬棗果實(shí)識別方法,。YOLO v3-SE模型利用SE Net 的SE Block結(jié)構(gòu)將特征層的特征權(quán)重校準(zhǔn)為特征權(quán)值,,強(qiáng)化了有效特征,弱化了低效或無效特征,,提高了特征圖的表現(xiàn)能力,,從而提高了模型識別精度。YOLO v3-SE模型經(jīng)過訓(xùn)練和比較,,選取0.55作為置信度最優(yōu)閾值用于冬棗果實(shí)檢測,,檢測結(jié)果準(zhǔn)確率P為88.71%、召回率R為83.80%,、綜合評價(jià)指標(biāo)F為86.19%,、平均檢測精度為82.01%,與YOLO v3模型相比,F(xiàn)提升了2.38個(gè)百分點(diǎn),,mAP提升了4.78個(gè)百分點(diǎn),,檢測速度無明顯差異。為檢驗(yàn)改進(jìn)模型在冬棗園自然場景下的適應(yīng)性,,在光線不足,、密集遮擋和冬棗不同成熟期的情況下對冬棗果實(shí)圖像進(jìn)行檢測,并與YOLO v3模型的檢測效果進(jìn)行對比,,結(jié)果表明,,本文模型召回率提升了2.43~5.08個(gè)百分點(diǎn),F(xiàn)提升了1.75~2.77個(gè)百分點(diǎn),,mAP提升了2.38~4.81個(gè)百分點(diǎn),,從而驗(yàn)證了本文模型的有效性。

    Abstract:

    Winter jujube fruit recognition is the key technology to realize automatic picking, fruit trees precision management and yield forecast in winter jujube orchard. The rapid and accurate recognition of winter jujube fruits in natural scene affects real-time operability of automatic picking and reliability of monitoring and prediction directly. According to the complex recognition conditions, such as dark light, backlighting, occlusion, and dense fruits in winter jujube orchards, YOLO v3-SE model embedded in SE Net was proposed based on YOLO v3. SE Net adaptively recalibrated channel-wise feature responses by explicitly modelling interdependencies between channels. It strengthened important and valid features, and weakened unimportant and invalid features to improve the performance of feature maps. The deep convolutional neural network built in the article was TensorFlow. After the YOLO v3-SE model was trained and its recognition effect was tested on test samples, and 0.55 was selected as the optimal confidence threshold for the final detection. The P, R, F and mAP were used to assess the differences between YOLO v3-SE and YOLO v3 models. Test results showed that the model proposed got significantly good results. The detection results had the P value of 88.71%, R value of 83.80%, F value of 86.19%, and mAP value of 82.01%. Compared with the results of YOLO v3, the F value and mAP value had an increase of 2.38 percentage points and 4.78 percentage points. Meanwhile, there was no significant difference in detection speed. The further experiments compared the test results of the proposed model and YOLO v3 in complex conditions. In the data sets of backlight and dark-light fruit, the F value and mAP value of the proposed model reached 83.10% and 76.58%. In the data sets of occlusion and dense fruit, the F value and mAP value of the proposed model were 85.02 % and 74.78%. In the data sets of white-ripe, crisp-ripe and full-ripe stage fruit, the F value and mAP value of the proposed model were 86.37%, 89.91%, 91.49%, and 81.18%, 85.15%, 87.49%, respectively. Compared with the original YOLO v3, the F value was increased by 1.75~2.77 percentage points, and the mAP value was increased by 2.38~4.81 percentage points. The detection performance was significantly improved. The above content verified the effectivity of the YOLO v3-SE model. The model proposed can provide a method for winter jujube automatic picking and orchard yield forecast.

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劉天真,滕桂法,苑迎春,劉博,劉智國.基于改進(jìn)YOLO v3的自然場景下冬棗果實(shí)識別方法[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2021,52(5):17-25. LIU Tianzhen, TENG Guifa, YUAN Yingchun, LIU Bo, LIU Zhiguo. Winter Jujube Fruit Recognition Method Based on Improved YOLO v3 under Natural Scene[J]. Transactions of the Chinese Society for Agricultural Machinery,2021,52(5):17-25.

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  • 收稿日期:2020-06-16
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  • 在線發(fā)布日期: 2021-05-10
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