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A Novel Fast Detection and Localization Method for the ‘Sucui No.1 Pear’ Based on YOLOv11-Pear
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DOI：10.3390/agriculture16161728.png)
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Abstract
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To address the visual perception challenges in automated harvesting of the ‘Sucui No.1 Pear’, this study proposes a fast detection and 3D localization method based on an improved YOLOv11 architecture and an RGB-D camera. First, a multi-scene ‘Sucui No.1 Pear’ dataset containing 5842 RGB-D image pairs and 31,559 labeled instances was constructed. Second, a lightweight YOLOv11-pear detection model optimized for pear fruit was developed; by reconstructing the feature pyramid network and introducing a global attention mechanism, using K-means++ clustering to optimize prior anchor boxes, and designing a composite loss function (Varifocal Loss + CIoU Loss + DFL), the detection accuracy was improved while maintaining lightweight design. The model adopts a “detect first, then fuse” strategy, achieving robust 3D coordinate calculation based on the median depth of the bottom region of the detection box. Experimental results show that YOLOv11-pear achieves 93.8% mAP@0.5 and 65.5% mAP@0.5:0.95 on the independent test set, with a precision of 94.2% and a recall of 91.5%. The model has only 5.8 M parameters and achieves real-time inference at 38.7 FPS on the Jetson Orin NX edge platform, with a mean absolute error of 9.9 mm for 3D localization. In severely occluded and complex lighting scenarios, the mAP@0.5 reaches 80.9% and 87.5%, respectively. After integrating the vision system into the harvesting robot platform, end-to-end closed-loop testing in a real orchard achieved an 88% harvesting success rate and 5% fruit damage rate. The average time for the visual perception stage was 1.3 s, accounting for 9.4% of the harvesting cycle. This research provides a high-precision, lightweight, and deployable vision solution for automated harvesting of the ‘Sucui No.1 Pear’, and has important reference value for promoting the development of intelligent fruit harvesting technology.
Keywords:
the ‘Sucui No.1 Pear’ fruits
RGB-D camera
target detection
3D positioning
picking robot
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